[ros-users] ROS driver supporting Sparkfun IMU

Patrick Goebel patrick at pirobot.org
Sat Mar 12 15:03:55 UTC 2011

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 

$ 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?

Patrick Goebel

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 
> <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 
> <mailto: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
>     --
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