We used the Atomic IMU from sfe.  Here is our ROS node: https://github.com/wjwwood/au-automow/tree/master/au_automow_drivers/atomic_imu

I think we used modified code on the IMU itself and it is here: http://archive.ausparc.com/svn/automow-elec/Firmware/trunk/IMU%20ReProgram%20Attempts/

That firmware has to be compiled with the student edition of the C/C++ compiler and AVR Studio: http://www.atmel.com/dyn/products/tools_card.asp?tool_id=2725

I can't guarantee that this will work perfectly, also I remember that we did some shady things to try and eliminate drift (ignoring all _very_ small changes, High pass filter).  Also, we adjust the covariance matrix such that the IMU is weighted more heavily in the Kalman filter at larger turn rates.  It actually worked quite well with our wheel odometry in the robot_pose_ekf.

Anyways if you have specific questions about the ROS node or the firmware I can find answers for you. 

Hope this helps,

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
William Woodall
Graduate Software Engineering
Auburn University
w@auburn.edu
wjwwood@gmail.com
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


On Mon, Jan 10, 2011 at 11:06 PM, Adam Stambler <adasta@gmail.com> wrote:
Hi,

Just an IMU won't be able to track the position of the IMU over time.  It can be combined with odometry measurements with a kalman filter to a decent estimate though. 

If you are looking for a sparkfun IMU with a premade ros-wrapper, I have a wrapper for the sparkfun 9d razor imu called imu_9drazor.  It is a part of the rutgers-ros-pkg. 

Regards,
Adam


On Mon, Jan 10, 2011 at 11:58 PM, abhy <abhy.12354@gmail.com> wrote:

hello,

Does ROS have Sparkfun IMU supporting driver?
"http://www.robotshop.com/sfe-atomic-imu-6-degrees-of-freedom-xbee-ready-1.html"

Is this IMU sufficient for giving X, Y, Z coordinates of the Robot?

Thanks,
Abhy
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