[ros-users] ROS driver supporting Sparkfun IMU

[William Woodall]

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,
<https://github.com/wjwwood/au-automow/tree/master/au_automow_drivers/atomic_imu>
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
William Woodall
Graduate Software Engineering
Auburn University
w at auburn.edu
wjwwood at gmail.com
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


On Mon, Jan 10, 2011 at 11:06 PM, Adam Stambler <adasta at 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 <http://www.sparkfun.com/products/9623>imu called
> imu_9drazor <http://www.ros.org/wiki/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 at 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
>> --
>> View this message in context:
>> http://ros-users.122217.n3.nabble.com/ROS-driver-supporting-Sparkfun-IMU-tp2232681p2232681.html
>> Sent from the ROS-Users mailing list archive at Nabble.com.
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>
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