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Learning ROS for Robotics Programming by Enrique Fernández, Aaron Martinez

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Using a low-cost IMU – 10 degrees of freedom

In this section, we will learn to use a low-cost sensor with 10 degrees of freedom (DoF). This sensor, which is similar to Xsens MTi, has an accelerometer (x3), a magnetometer (x3), a barometer (x1), and a gyroscope (x3). It is controlled with a simple I2C interface, and in this example it will be connected to Arduino Nano (http://arduino.cc/en/Main/ArduinoBoardNano).

This sensor is also used for similar uses. Xsens costs approximately $2,000, which is very expensive for normal users. The sensor explained in this section has an approximate cost of $20. The low price of this sensor permits its usage in a lot of projects.

You can see this sensor in the following image. It is thin and has few components. ...

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