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How imu is detected?

asked 2019-01-07 09:08:48 -0500

Mus007 gravatar image

updated 2019-01-08 03:21:06 -0500

Hi, I am new to ROS, i have read documentation and implementation of robot_localization_node. Now i am about to implement this approach as stated, i wanted to clear up few basic points if someone can clear it to me..

  • 1- How implementation algorithm will detect which IMU sensor i am using? Where i have to mention about it? Apart from imu0/config.
  • 2- What starting step i have to take in order to be able to build this node on my Virtual Machine? (Downloading INDIGO, and what steps i need to follow after having indigo) ?

It would be a great help if someone can give me a little bit of input not even detailed because i am confused a bit with starting it. THANKS!

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answered 2019-01-07 09:56:00 -0500

Rick Armstrong gravatar image

updated 2019-01-07 09:56:36 -0500

Hi Mus007,

How implementation algorithm will detect which IMU sensor i am using? Where i have to mention about it? Apart from imu0/config.

An IMU config stanza starts with the name the ROS topic to which your IMU will publish, and robot_localization will subscribe:

imu0: /imu/data

Your IMU ROS driver will publish a message of type sensor_msgs/Imu to this topic. I see there's at least one existing ROS driver for your IMU out there: BNO055, so you may not have to write your own.

What starting step i have to take in order to be able to build this node on my Virtual Machine? (Downloading INDIGO, and what steps i need to follow after having indigo) ?

The beginner tutorials explain the whole process of building a ROS environment.

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Thanks alot for such a clear response, Last thing which i want to make sure, How to include these imu driver files with robot_localization files? I have to merge .yaml and .launch files with that of robot_localization? Thanks!

Mus007 gravatar image Mus007  ( 2019-01-08 03:23:33 -0500 )edit

The IMU driver runs in an entirely separate process (ROS node) from the robot_localization nodes. Each node has its own associated configuration files and launch file. Again, running through all of the beginner tutorials and reading the robot_localization documentation will clear things up.

Rick Armstrong gravatar image Rick Armstrong  ( 2019-01-25 21:30:31 -0500 )edit

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Asked: 2019-01-07 09:08:48 -0500

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Last updated: Jan 08 '19