what IMUs work with ROS?

For integration with robot_pose_ekf, you'll want to make sure that your IMU actually computes and returns an orientation, since robot_pose_ekf only cares about the orientation component of it's input sensor_msgs/IMU. For example, if I recall correctly, the Wiimote IMU does not compute an orientation component, as the Wiimote only outputs accelerations (and angular velocities if you have a MotionPlus either addon or builtin to the newer Wiimotes).

I'm not familiar with the imu_9drazor driver specifically, but we do use Sparkfun 9DOF Razor IMU in our own projects (with an unreleased driver) and have been extremely happy with it. Some reasons we've been happy with it:

Relatively inexpensive ($125)
Easily hackable (it's basically just an Arduino with the sensors wired in and some pre-exisiting firmware)
Gyros don't really drift, so we are able to use a static bias correction instead of calculating it on the fly

Hopefully this helps.

The 9d_razor has been modified by hobbyists recently to include both a Kalman filter and DCM solution to the orientation problem. Most of the cheaper IMUs do not include this functionality, and it gives you a nice head start on a project. mjcarroll (Mar 15 '11)edit
Do you have a link for the Kalman Filter firmware? I only recall the DCM that is in the sf9domahrs project. And ya, having that added functionality is a huge boost! Eric Perko (Mar 15 '11)edit
Give me a bit of time to find it. I'm pretty sure that one of the DIYdrones guys set it up with 3 different methods. DCM, EKF/UKF, and something I hadn't heard of before. It's not in the stock AHRS firmware, but it exists. It's just a matter of parsing my Google history. mjcarroll (Mar 16 '11)edit
I think the CH Robots UM6 has an EKF by default, code here: http://sourceforge.net/projects/um6firmware/mjcarroll (Mar 16 '11)edit
Do you know of any that run on the 9d razor? We've done an EKF/UKF for the 9d razor, but in Python on the host machine. We didn't think we could get one running at the rate we wanted on the Arduino on the razor. That UM6 has a 32-bit ARM (definitely beefier than the ATMega328) to handle the EKF. Eric Perko (Mar 16 '11)edit

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answered Apr 02

sd1074
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Does anyone know what happened to the http://www.ros.org/wiki/imu_9drazor page? It seems to empty.

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I believe that package was removed by the authors.

Eric Perko (Apr 02)edit

Thanks for your reply, Eric. Do you know if there is anything analogous which would allow me to quickly use this IMU in ROS?

sd1074 (Apr 03)edit

1

Nothing released or in any shape to be released. It looks like the code for the imu_9drazor is still up ( https://github.com/adasta/rutgers-ros-pkg ), but since the docs were removed, who knows what shape it's in. It might be easiest to write your own driver using the stock Sparkfun firmware.

Eric Perko (Apr 03)edit

what IMUs work with ROS?

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