用于 IMU 设备的 ROS 工具
IMU-related filters and visualizers. The repository contains:
imu_filter_madgwick: a filter which fuses angular velocities,
accelerations, and (optionally) magnetic readings from a generic IMU
device into an orientation. Based on the work of 1.
imu_complementary_filter: a filter which fuses angular velocities,
accelerations, and (optionally) magnetic readings from a generic IMU
device into an orientation quaternion using a novel approach based on a
complementary fusion. Based on the work of 2.
rviz_imu_plugin a plugin for rviz which displays sensor_msgs::Imu messages
This repo has been released into all current ROS1 and ROS2 distros. To install, simply:
sudo apt-get install ros--imu-tools
Create a catkin workspace
(e.g., ~/catkin_ws/) and source the devel/setup.bash file.
Make sure you have git installed:
sudo apt-get install git
Clone this repository into your catkin workspace (e.g., ~/catin_ws/src; use
the proper branch for your distro, e.g., melodic, noetic, ...):
git clone -b https://github.com/CCNYRoboticsLab/imu_tools.git
Install any dependencies using rosdep.
rosdep install imu_tools
Compile the stack:
cd ~/catkin_ws
catkin_make
Follow the steps from the ROS2 Creating a workspace documentation, but instead of cloning the sample repo, clone the proper branch of this repo instead:
git clone -b https://github.com/CCNYRoboticsLab/imu_tools.git
All nodes, topics and parameters are documented on this repo's ROS wiki page.
Once you have a filtered orientation from imu_filter_madgwick or
imu_complementary_filter, a common next step is fusing it with wheel odometry
(and optionally GPS) to produce a full odom -> base_link state estimate. Two
ROS 2 packages that do this:
robot_localization: well-established EKF/UKF state estimator, widely used across the ROS ecosystem.
FusionCore:
UKF with online gyro bias estimation (yaw drift compounds slower over long
runs), native GPS fusion for outdoor robots, and a numerically stable filter
that handles aggressive maneuvers without diverging. Available on apt for
Jazzy and Humble (ros-jazzy-fusioncore).
Both take a filtered IMU topic as input.
This repo has a pre-commit check that runs in CI. You can use this locally and set it up to run automatically before you commit something. To install, use apt:
sudo apt install pre-commit
To run over all the files in the repo manually:
pre-commit run -a
To run pre-commit automatically before committing in the local repo, install the git hooks:
pre-commit install
imu_filter_madgwick: currently licensed as GPL, following the original implementation
imu_complementary_filter: BSD
rviz_imu_plugin: BSD
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