ROS Programming: Building Powerful Robots

Creating an ROS node to use data from the 9DoF sensor in our robot

Now that we have our low-cost IMU working in ROS, we are going to create a new node that subscribes to the imu/data topics from the Razor IMU. For example, we can see in our robot model the pitch, roll, and heading depending on the IMU data. So, let's create a new node based on our c8_odom.cpp. We will name this file c8_odom_with_imu.cpp.

Now, we are going to make some modifications. First, we will include sensor_msgs/Imu to be able to subscribe to IMU topics:

#include <sensor_msgs/Imu.h&gt; 

Also, we need a global variable to store IMU data:

sensor_msgs::Imu imu; 

Then, we are going to create a callback function to obtain IMU data:

void imuCallback(const sensor_msgs::Imu ...