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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,
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
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,
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 did you ever run into this problem? https://github.com/KristofRobot/razor...
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.
I forgot to catkin_make to generate the files for the dynamic reconfigure and now it works.
@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 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...
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.
Asked: 2018-05-22 01:39:43 -0500
Seen: 847 times
Last updated: Aug 07 '18
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This is just convention and can be fixed simply by rotating the outputs to correspond with the ROS expectations