ROS MPU_GY85 Node

c++ ROS node wrapper for the gy-85 gyroscope / accelerometer.
Reads accelerometer, gyroscopic and magnetic data in 3D giving 9 Degrees of Freedom.
Publishes sensor_msgs::IMU to /imu/data_raw topic(angular_velocity and linear_acceleration).
Publishes sensor_msgs::MagneticField to /imu/data_raw topic(angular_velocity and linear_acceleration).
Supported interface : I2C.
used in Jetson Nano

Installation

First clone this repository into your ROS workspace(src folder):

git clone https://github.com/ceoifung/mpu_gy85.git

Compile it:

catkin_make --pkg mpu_gy85

Run a node:

source devel/setup.bash
rosrun mpu_gy85 mpu_gy85_node

Review the published data with:

rostopic echo /imu/data_raw

Test App

if you want to test the Gy85 sensor, you can run this command to complie an program

cd src
make
./gy85.out

Complementary filter

install imu-tools:

sudo apt-get install ros-melodic-imu-tools

run launch file:

source devel/setup.bash
roslaunch mpu_gy85 imu.launch

reference: http://wiki.ros.org/imu_complementary_filter

Create a rosbag file (.bag)

run launch file:

source devel/setup.bash
roslaunch mpu_gy85 record_topic.launch

Get data from the topics of the .bag file:

rostopic echo -b file.bag -p /topic

Visualize Rviz:

source devel/setup.bash
roslaunch mpu_gy85 gy85_rviz.launch

Configure as FIG.1 or load config file in (rviz_config/imu.rviz)

GIF: