Hi everyone,

We have put together a small stack with IMU-related tools, available here:

http://www.ros.org/wiki/imu_tools

The stack contains two packages:

  * rviz_imu_plugin - A plugin for rviz which visualizes IMU messages, 
displaying sensor orientation and acceleration.

  * imu_filter_madgwick - a general-purpose filter which fuses angular 
velocities, linear accelerations, and (optionally) magnetic field 
readings into an orientation quaternion. We've tested this with a 
Phidgets Spatial 3/3/3 IMU sensor (phidgets stack also coming soon).

More info is available at the wiki pages. As always, we welcome any 
feedback and suggestions.

Cheers,

Ivan

-- 
Ivan Dryanovski
Research Assistant, CCNY Robotics Lab
City University of New York (CUNY)
http://robotics.ccny.cuny.edu/People/Dryanovski