Hi Adam,

Thanks for making this wrapper available. I have a Sparkfun 9d_razor and I have upgraded the firmware using the .pde files in imu_9drazor/src/SF9DOF_AHRS. I did this under Windows using the Arduino IDE (version 0022) and the upload proceeded without errors.

Back on Linux with the IMU on port /dev/ttyUSB0 I followed the Wiki instructions:

$ sudo ln -s /dev/ttyUSB0 /dev/imu 
$ roslaunch imu_9drazor imu.launch

The launch proceeded without errors with the output:
process[imu_node-1]: started with pid [23276]
process[imu_msg_converter-2]: started with pid [23277]

However, when I echo the imu topic with "rostopic echo imu" there is no data being published. Ditto for the topic imu/imu_raw. Both topics are listed with "rostopic list".

One silly question: aside from having the IMU connected to the USB port, do I also have to apply power to the white power connector? I did not have to do this under Windows to see data via the firmware test application.

Any thoughts?

Thanks!
Patrick Goebel
http://www.pirobot.org

On 01/10/2011 09:06 PM, Adam Stambler 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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