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Robot Operating System Cookbook by Kumar Bipin

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Interfacing 9DoF Razor IMU-Arduino-ROS

In this section, we will learn how to use a low-cost sensor with the 9 Degrees of Freedom (DoF) Razor IMU M0 with the ROS framework. The SparkFun 9DoF Razor IMU M0 combines a SAMD21 microprocessor with an MPU-9250 9DoF (nine degrees of freedom) sensor to create a tiny, re-programmable, multi-purpose inertial measurement unit (IMU).

The 9DoF Razor IMU M0 incorporates three sensor: an accelerometer, a gyroscope, and a magnetometer, which gives it the ability to sense linear acceleration, angular rotation velocity, and magnetic field vectors.

The onboard microprocessor, Atmel's SAMD21G18A, is an Arduino-compatible, 32-bit ARM Cortex-M0+ microcontroller, which is also featured on the Arduino Zero and SAMD21 ...

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