rtimulib_ros

A simple package to use the nice RTIMULib (unfortunately , now unmaintained) from RichardsTech in ROS.

The RTIMULib needs to be installed. It can be found here : https://github.com/RTIMULib/RTIMULib

Topic

The fused orientation data are published on the imu/data topic by default but can be modified via the topic_name parameter.

Calibration

The calibration needs to be performed by the RTIMULibCal utility provided by the library. In case of a several devices configuration, RTIMULibCal can be launched with an argument to change the name of the calibration file. Example:

    $ RTIMULibCal toto

Will produce the toto.ini file in the current directory.

Then, the file calibration file .ini needs to be placed in the config directory of the package.

If the calibration file has a custom name, it must be specified with the calibration_file_name parameter.

Launch

The node has to be launched with the rtimulib_ros.launch in order to load the calibration file.

    $ roslaunch rtimulib_ros rtimulib_ros.launch

Visualization

The data from the IMU can be seen via the 3D visualization node from the razor_imu_9dof package. But this package subscribe to the /imu topic so the topic_name parameter of the must be set to /imu.

Install it :

    $ sudo apt-get install ros-indogo-razor-imu-9dofs

Launch the visualization node :

    $ roslaunch razor_imu_9dofs razor-display.launch

## Parameters

• calibration_file_path: (Mandatory) used to dynamically find the package config directory. Does not need to be modified.
• calibration_file_path: (Optional) used to use a different calibration file name than RTIMULib.ini. Do not include the .ini suffix.
• topic_name: (Optional) used to change the default /imu/data topic to publish the IMU data.
• frame_id: (Optional) used to change the default imu_link frame.
• update_rate: (Optional) used to change the default 20 Hz update rate of the node.