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imu_tools: imu_complementary_filter | imu_filter_madgwick | rviz_imu_plugin

Package Summary

Filter which fuses angular velocities, accelerations, and (optionally) magnetic readings from a generic IMU device into a quaternion to represent the orientation of the device wrt the global frame. Based on the algorithm by Roberto G. Valenti etal. described in the paper "Keeping a Good Attitude: A Quaternion-Based Orientation Filter for IMUs and MARGs" available at http://www.mdpi.com/1424-8220/15/8/19302 .

imu_tools: imu_complementary_filter | imu_filter_madgwick | rviz_imu_plugin

Package Summary

Filter which fuses angular velocities, accelerations, and (optionally) magnetic readings from a generic IMU device into a quaternion to represent the orientation of the device wrt the global frame. Based on the algorithm by Roberto G. Valenti etal. described in the paper "Keeping a Good Attitude: A Quaternion-Based Orientation Filter for IMUs and MARGs" available at http://www.mdpi.com/1424-8220/15/8/19302 .

imu_tools: imu_complementary_filter | imu_filter_madgwick | rviz_imu_plugin

Package Summary

Filter which fuses angular velocities, accelerations, and (optionally) magnetic readings from a generic IMU device into a quaternion to represent the orientation of the device wrt the global frame. Based on the algorithm by Roberto G. Valenti etal. described in the paper "Keeping a Good Attitude: A Quaternion-Based Orientation Filter for IMUs and MARGs" available at http://www.mdpi.com/1424-8220/15/8/19302 .

imu_tools: imu_complementary_filter | imu_filter_madgwick | rviz_imu_plugin

Package Summary

Filter which fuses angular velocities, accelerations, and (optionally) magnetic readings from a generic IMU device into a quaternion to represent the orientation of the device wrt the global frame. Based on the algorithm by Roberto G. Valenti etal. described in the paper "Keeping a Good Attitude: A Quaternion-Based Orientation Filter for IMUs and MARGs" available at http://www.mdpi.com/1424-8220/15/8/19302 .

imu_tools: imu_complementary_filter | imu_filter_madgwick | rviz_imu_plugin

Package Summary

Filter which fuses angular velocities, accelerations, and (optionally) magnetic readings from a generic IMU device into a quaternion to represent the orientation of the device wrt the global frame. Based on the algorithm by Roberto G. Valenti etal. described in the paper "Keeping a Good Attitude: A Quaternion-Based Orientation Filter for IMUs and MARGs" available at http://www.mdpi.com/1424-8220/15/8/19302 .

Details

Supported devices

The filter should be general enough to use with any IMU which publishes angular velocities and linear accelerations (and optionally magnetic filed).

It has been tested with:

Phidgets Spatial 3/3/3

Xsense MTx

Example

Here's an example of the filter in operation:

ROS API

complementary_filter_node

Subscribed Topics

imu/data_raw (sensor_msgs/Imu) imu/mag (sensor_msgs/MagneticField)

Published Topics

imu/data (sensor_msgs/Imu) imu/rpy/filtered (geometry_msgs/Vector3) imu/steady_state (std_msgs/Bool)

Parameters

Not Dynamically Reconfigurable Parameters
~gain_acc (double, default: 0.01) ~gain_mag (double, default: 0.01) ~bias_alpha (double, default: 0.01) ~do_bias_estimation (bool, default: true) ~do_adaptive_gain (bool, default: true) ~use_mag (bool, default: false) ~fixed_frame (string, default: odom) ~publish_tf (bool, default: false) ~reverse_tf (bool, default: false) ~constant_dt (double, default: 0.0) ~publish_debug_topics (bool, default: false)

Provided tf Transforms

fixed_frameimu_frame

Bug Reports & Feature Requests

We appreciate the time and effort spent submitting bug reports and feature requests.

Use GitHub to report bugs or submit feature requests. [View active issues]


2019-09-14 12:45