Using a cheap MPU9255 IMU for pose estimation and integration with ROS and Ruiz via arduino
This code uses the MPU9255 library: https://github.com/Bill2462/MPU9255-Arduino-Library
- MPU9255.ino: Arduino sketch for reading IMU values (Acc,Gyr,Mag) and processing (LowPassFilter,HighPassFilter) the raw data into Roll, Pitch, Yaw angles. issues: Yaw angle needs debuging, need to check equations.
Blue Red Green :: Roll Pitch Yaw
- MPU9255_rosserial_arduino.ino: Arduino sketch for communicating with ROS (on Linux) via serrial. issues: too much computation on Arduino, need to split arduino parts to only publishing raw data, and adding a processing node in ROS.