How to move urdf model in rviz with /imu/data

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Move how? I'm almost thinking just set up a TF tree with an odom that is based on just the IMU.

However, you're talking about a ship, so I'm guessing you don't really want the forward movement, just the angular and maybe linear z?

Maybe you could use sensor fusion to just filter out what you don't want. It's not really what sensor fusion is about (since you'd be just using it as a filter). It should still work I think.

EDIT: The way I see it, you could make a very simple URDF with a base_link and imu_link, you can also add a mesh to the URDF to create something that looks like a ship. Then get the IMU to publish its data in ROS. Finally you should be able to use something like sensor fusion to publish the odometry between the link odom and base_link and set odom as your fixed frame in RViz.

That should work, you just need to set up sensor fusion to only use the components from the IMU that you want (angular xyz and linear z).

EDIT2: Also, did you know the source code from that video is linked in the description? The guy also explains how he did it in the video.