MPU-9250sensors. We recommend the
Grove - IMU 9DOF v2.0board but most modules with this sensor should work.
00189_imupart). The files can be found here:
/imu/magon which IMU gyroscope, accelerometer and magnetometer readings are published. (you can check available topics with
rostopic echo, for example:
imu/gyrotopic) represents angular velocity around sensor's axes in rad/s (radians per second). The accelerometer data (
imu/acceltopic) represents linear acceleration along sensor's axes in m/s2 (meters per second squared). The magnetometer data (
imu/magtopic) represents magnetic field along sensor's axes in G (Gauss).
/etc/ros/urdf/robot.urdf.xacro. Simply open the file in
nanoeditor by typing:
imulink represents the reference frame of the sensor readings.
base_linkis the origin of the robot.
imu_jointspecifies the transformation between these two links.
<origin>tag) depending on how you mounted the module.