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mi_ros

Overview

ROS driver package for XG6000 IMU sensor

Specification

Parameter	Value	Unit
Measurement - Angular rate	±250	deg/sec
Measurement - Acceleration	±2	g
Bandwidth - Angular rate	12	Hz
Bandwidth - Acceleration	62.5	Hz
Yaw axis angular rate - Scale factor error	0.3	%
Yaw axis angular rate - Bias drift	10	deg/hr
Yaw axis relative angle - Proportional error	0.3	%
Yaw axis relative angle - Drift error	10	deg/hr
Roll, pitch accuracy - Static error	0.3	deg
Roll, pitch accuracy - Dynamic error	0.7	deg
Resolution - Angular rate	0.01	deg/sec
Resolution - Angle	0.01	deg
Resolution - Acceleration	1	mg
Data rate	100	Hz

ROS Interface

Topic Name	Type	Description
imu/data	sensor_msgs/Imu	IMU data
imu/rpy	geometry_msgs/Vector3Stamped	roll, pitch, yaw data

Service Name	Type	Description
imu/reset	std_srvs/Trigger	Reset the sensor

Installation

cd ~/catkin_ws/src/
git clone https://github.com/roasinc/mi_ros.git

cd ~/catkn_ws/
rosdep install --from-paths src --ignore-src -y
catkin_make

Usage

sudo chmod 666 /dev/ttyUSB0
roslaunch mi_ros mi.launch