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Reliable IMUs for ROS

asked 2018-05-22 01:39:43 -0600

Hi,

I'm having problems in finding reliable IMU's in ROS. So far, I have tried the UM7 and the myAHRS+ with no luck. The first one, keeps resetting its magnetic reference and the second one works well but the x axis is pointing to the north ( x-north, y-west, z-up convention ) instead to the east ( ROS convention x-east, y-north, z-up convention ).

Does anybody know one that works out of the box?

Best,

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the second one works well but the x axis is pointing to the north ( x-north, y-west, z-up convention ) instead to the east ( ROS convention x-east, y-north, z-up convention )

This is just convention and can be fixed simply by rotating the outputs to correspond with the ROS expectations

BrettHemes gravatar imageBrettHemes ( 2018-05-22 08:18:16 -0600 )edit

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answered 2018-05-22 10:58:08 -0600

bpinaya gravatar image

Check out razor IMUs: http://wiki.ros.org/razor_imu_9dof

I've worked with them and with the ROS package the setup is easy and it works flawlessly with this one: https://www.sparkfun.com/products/ret...

But as you see that has been retired, when I bought it I got the https://www.sparkfun.com/products/14001 and there are some PRs on the page of the razor_imu_9dof to make it work with the M0.

Note the video from razor_imu_9dof : https://youtu.be/5FALgpOlgvw

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Great! Thanks!

When you refer to the page of the razor_imu_9dof, are you talking about this webpage: http://wiki.ros.org/razor_imu_9dof?

What does PR stand for?

Best,

andrestoga gravatar imageandrestoga ( 2018-05-22 13:48:53 -0600 )edit

PR = Pull Request, sorry. And when I said the page I refer to the github repo, from what I've seen so far there is a fork with the code for the M0 so you are good to go: https://github.com/KristofRobot/razor...

bpinaya gravatar imagebpinaya ( 2018-05-23 01:54:32 -0600 )edit

@bpinaya did you ever run into this problem? https://github.com/KristofRobot/razor...

andrestoga gravatar imageandrestoga ( 2018-07-03 21:17:03 -0600 )edit

Not really, but from what I see it's due to the config file: https://github.com/KristofRobot/razor... Maybe an old branch? I'll give it a look in the weekend, but when I used it it was straight forward.

bpinaya gravatar imagebpinaya ( 2018-07-04 03:16:52 -0600 )edit

I forgot to catkin_make to generate the files for the dynamic reconfigure and now it works.

andrestoga gravatar imageandrestoga ( 2018-07-04 12:17:31 -0600 )edit

hehehe no problem, it's always better to remove /devel and /build and catkin_make again. If you liked my answer please accept it ;)

bpinaya gravatar imagebpinaya ( 2018-07-05 02:33:41 -0600 )edit

@andrestoga I am having troubles with the razor IMU, I am using https://www.sparkfun.com/products/ret... with an arduino mega. Can you provide some details about your setup? thank you

aarontan gravatar imageaarontan ( 2018-07-08 18:23:38 -0600 )edit

@aarontan please ask it in another thread and share the link of your question in the comments so, I can help you out. Also, you can post your issue here https://github.com/KristofRobot/razor...

andrestoga gravatar imageandrestoga ( 2018-07-09 11:11:55 -0600 )edit
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answered 2018-05-22 13:36:14 -0600

stevejp gravatar image

updated 2018-08-07 19:15:07 -0600

The "AHRS" orientation estimate that the UM7 calculates isn't great, but the IMU sensor data (i.e., acceleration, gyros, magnetometer) is fine, as long as you've done your calibrations properly. So what you could do is feed another filtering package (such as the madgwick filter) your IMU sensor data and take the orientation output from that. It can be a little bit tricky getting everything set up, so if you have any more questions feel free to post them and I'm happy to try and answer.

Edit (Aug 7th, 2018): In response to @aarontan's comment: I'm not super familiar with the razor, but I will say that a lot of these devices use the same underlying hardware (magnetometer, gyros, accelerometers), so if you plan on running the imu data through a madgwick filter node to get your orientation I doubt it will really matter which you choose. If you plan on using the on-board AHRS for orientation, I would do a search and see what others have said re. the accuracy of the razor. Regarding the UM7 AHRS - in the past it has been notoriously bad, but Redshift labs recently (within the last week) released a firmware upgrade where they report "improved heading estimation, solution for random yaw drift issues, quicker EKF convergence, among other improvements" - I haven't had time to test it yet but it sounds promising.

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would you recommend the UM7 or razor imu?

aarontan gravatar imageaarontan ( 2018-08-07 12:39:51 -0600 )edit

Updated my answer with response

stevejp gravatar imagestevejp ( 2018-08-07 19:14:51 -0600 )edit

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Asked: 2018-05-22 01:39:43 -0600

Seen: 351 times

Last updated: Aug 07 '18