FXIMU IMU Sensor Board for ROSDesigned by ROSRider Robot Control Board in Turkey
What is it? Plug and play IMU sensor for ROS. FXIMU utilizes a port of ROS's complementary filter on the TM4C123 MCU using the NXP semiconductor FXOS8700 accelerometer magnetometer and FXAS21002 gy...Read More…
Plug and play IMU sensor for ROS.
FXIMU utilizes a port of ROS's complementary filter on the TM4C123 MCU using the NXP semiconductor FXOS8700 accelerometer magnetometer and FXAS21002 gyro sensor.
After integrating an IMU to ROS the first time, I noticed several difficulties, in both terms of hardware [multiple boards, cables around], and software mainly latency, and ease of configurability.
Todays IMU chips usually have DMP on board. While this is a good idea, user does not have access to DMP's operation. To be able to use and tune an IMU in ROS, you need to be able to tailor the filtering according to your needs.
I have designed a single board solution, that reads the sensor, and does the necessary filtering.
It works with ROS without any problems, does not require drivers, uses standard message types, and is open source.
You can modify the firmware for your application. Notice, this is a hardware and software project, source code for the firmware is open source, and well documented.
The configuration is parametric, meaning that you edit a yaml file, that configures parameters of the board, from update speed to calibration values.
And calibration can be written to EEPROM. It comes calibrated, with calibration values written to EEPROM. You still would need to re calibrate it once you mount on your application.
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