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I'm investigating adding an IMU to my 3DOF robot platform to improve odometry through robot_pose_ekf
What IMUs are available that output sensor_msgs/Imu messages?
Here's what I found so far:
What solution would work best for the least amount of money (taking into account I only have 3DOF on my robot)?
(for example, has anyone used Wiimote IMU data for robot_pose_ekf?)
You can have a look here: Sensors wiki and contribute those you found extra. We at KUL have the Xsens Mti package that we maintain.
For integration with robot_pose_ekf, you'll want to make sure that your IMU actually computes and returns an orientation, since robot_pose_ekf only cares about the orientation component of it's input sensor_msgs/IMU. For example, if I recall correctly, the Wiimote IMU does not compute an orientation component, as the Wiimote only outputs accelerations (and angular velocities if you have a MotionPlus either addon or builtin to the newer Wiimotes).
I'm not familiar with the imu_9drazor driver specifically, but we do use Sparkfun 9DOF Razor IMU in our own projects (with an unreleased driver) and have been extremely happy with it. Some reasons we've been happy with it:
Relatively inexpensive ($125)
Easily hackable (it's basically just an Arduino with the sensors wired in and some pre-exisiting firmware)
Gyros don't really drift, so we are able to use a static bias correction instead of calculating it on the fly
Hopefully this helps.
Hi everybody,
I just contributed a ROS package http://www.ros.org/wiki/razor_imu_9dof for Razor IMU 9DOF using latest firmware and support for all different hardware version of the board.
(PS: They make alot of revision for the board), This package will publish /imu standard message. I also prepared a 3D visualization testing for the package.
This firmware support calibration.
You are welcome to comment and report bug if you found any. Thanks for the support!
Cheers Tang
I think by now the doxygen will generate the GIT link. I also paste here
Did you make any progress with this? I'm planning on using a FreeIMU 9 DOF (http://www.varesano.net/projects/hardware/FreeIMU)and a 250G single access accelerometer connected to an Arduino using rosserial. Should know soon how well it works.
If you use robot_pose_ekf is what Eric said, it will work if you give just an orientation. If you want to fuse all these data you can modify robot_pose_ekf or deal with your data to get an orientation for this ekf.
Does anyone know what happened to the http://www.ros.org/wiki/imu_9drazor page? It seems to empty.
Nothing released or in any shape to be released. It looks like the code for the imu_9drazor is still up ( https://github.com/adasta/rutgers-ros-pkg ), but since the docs were removed, who knows what shape it's in. It might be easiest to write your own driver using the stock Sparkfun firmware.
Will the package be put up for Electric? I have the 9DOF, and am interested in using it on my 'bot.
Alan KM6VV
Asked: 2011-03-15 09:08:57 -0500
Seen: 5,096 times
Last updated: Jan 03 '13
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