March 2018
Intermediate to advanced
1396 pages
42h 14m
English
book
ROS Programming: Building Powerful Robots
by Anil Mahtani, Luis Sanchez, Enrique Fernandez, Aaron Martinez, Lentin Joseph
Content preview from ROS Programming: Building Powerful Robots
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Interfacing IMUs with ROS
Most self-driving cars use integrated modules for GPS, IMU, and wheel encoders for accurate position prediction. In this section, we will look at some popular IMU modules that you can use if you want to use IMU alone.
I'll point you to a few links for ROS drivers used to interface with it. One of the popular IMUs is the MicroStrain 3DM-GX2 (http://www.microstrain.com/inertial/3dm-gx2):
Figure 25: Microstrain-3DM-GX2 IMU
Here are the ROS drivers for this IMU series:
http://wiki.ros.org/microstrain_3dmgx2_imu
http://wiki.ros.org/microstrain_3dm_gx3_45
Other than that, there are IMUs from Phidget (http://wiki.ros.org/phidgets_imu ...