Added a IMU in 4UDE

In the last post I wrote about my problem to recognize robot’s position in the environments.

I bought an IMU (Inertial Measurement Unit) I with 9 degrees of freedom, the RAZOR producted from sparkfun.

The hardware features about this board are:

  • ITG-3200 – triple-axis digital-output gyroscope
  • ADXL345 – 13-bit resolution, ±16g, triple-axis accelerometer
  • HMC5883L – triple-axis, digital magnetometer
  • Dimensions: 1.1″ x 1.6″ (28 x 41mm)

Finally this board is integrated in ROS with this fork of firmware, thanks to KristofRobot:

And this node, called razor_imu_9dof

Another way to install this node is with:

sudo apt-get install ros-indigo-razor-imu-9dof

 

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