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SparkFun 9DoF Razor IMU (SEN-14001)

asked 2017-05-09 08:23:54 -0600

Markus_ gravatar image

The ROS driver for the Razor IMU ( ) states to work with the versions SEN-10125 and SEN-10736. However, SparkFun only sells the new version SEN-14001 ( ). Does anyone know if the ROS driver still works for this version or if alternatively if I can by an SEN-10736 somewhere.

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The ros nodes needs the AHRS firmware on the IMU. Its probably not yet ported.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-05-10 00:46:16 -0600 )edit

Thanks for the hint.

Markus_ gravatar image Markus_  ( 2017-05-10 03:59:23 -0600 )edit

Btw if you are looking for a cheap IMU for use with ROS, maybe try TinkerForge IMU Brick 2.0. But I have not tested it yet.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-05-10 04:38:29 -0600 )edit

Looks promising. I'll let you know if I opt for this one and get it to run.

Markus_ gravatar image Markus_  ( 2017-05-10 06:56:35 -0600 )edit

Got one, with all the leds it looks a bit like a Christmas tree. Software installation is complicated (requires a daemon). Mounted it on the same bot as my razor. Looking forward to compare.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-05-15 14:13:44 -0600 )edit

Did you use this package?

Markus_ gravatar image Markus_  ( 2017-05-16 03:33:58 -0600 )edit

So far I have only used the TinkerForge IMU standalone, without ROS. I'm not 100% happy with this package as the covariance matrix is fixed to 0.1 for all values.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-05-16 12:54:47 -0600 )edit

First result: IMU Brick can give reasonable values without calibration, the razor IMU needs way more attention here. However this comes with higher currents, Razor: 40mA, Brick v2: 70mA.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-05-16 14:16:27 -0600 )edit

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answered 2017-11-29 05:17:31 -0600

Hi There,

I'm also trying to setup the razor_imu_9dof node with the new sparkfun board, I've found a fork of the original firmware that supports the new 14001 based board here:

To be honest though, I haven't managed to get it working 100% yet but it's closer than anything else I've found so far. It's outputting the linear and angular acceleration values correctly but the orientation estimate seems a bit buggy. I'm working on this at the moment so I'll post any progress I make.

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I don't think that this is a good place for reporting updates, try discourse instead.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-11-29 12:19:40 -0600 )edit

Just a last comment : I think now I have corrected most of the problems on , check latest version and see if it is better...

lebarsfa gravatar image lebarsfa  ( 2017-12-08 15:25:14 -0600 )edit

Great news, I'll pull the latest version and let you know how I get on early next week. Thanks for sharing your work.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2017-12-09 11:13:38 -0600 )edit

It's working! Thanks for your help lebarsfa. I really think your updated code should get pushed back to the original repo, since no-one can use the original firmware with the hardware that is available now!

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2017-12-20 05:27:18 -0600 )edit

OK, so I will try to propose a pull request to both and .

lebarsfa gravatar image lebarsfa  ( 2017-12-20 08:04:02 -0600 )edit

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Asked: 2017-05-09 08:23:54 -0600

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Last updated: Nov 29 '17