Easy IMU ROS Package

This the ROS2 Package for the using the Easy IMU Module (MPU9250 EIMU Module) with ROS2 in a PC or microcomputer, after successful setup with the eimu_setup_application.

Note

It should be used with your ros2 project running on Ubuntu - ros-humble, ros-jazzy, etc.

install dependecies eimu-serial-dev and rosdep

• download and install the eimu-serial-dev pkg. you can also check the release

PC (AMD64)

wget https://github.com/robocre8/eimu_serial_cpp/releases/download/v1.1.1/eimu-serial-dev_1.1.1_amd64.deb

sudo apt install ./eimu-serial-dev_1.1.1_amd64.deb

Raspberry Pi (ARM64)

wget https://github.com/robocre8/eimu_serial_cpp/releases/download/v1.1.1/eimu-serial-dev_1.1.1_arm64.deb

sudo apt install ./eimu-serial-dev_1.1.1_arm64.deb

• install rosdep so you can install necessary ros related dependencies for the package (if you have not).

  sudo apt-get update
  sudo apt install python3-rosdep
  sudo rosdep init
  rosdep update

How to Use the Package

• cd into the src/ folder of your ros workspace and clone the repo

  git clone https://github.com/robocre8/eimu_ros.git

• from the src/ folder, cd into the root directory of your ros workspace and run rosdep to install all necessary ros dependencies

  cd ../
  rosdep install --from-paths src --ignore-src -r -y

• build the packages with colcon (in the root directory of your ros workspace):

  colcon build --packages-select eimu_ros --symlink-install

• check the serial port the driver is connected to:

  ls /dev/ttyA*

  you should see /dev/ttyACM0 or /dev/ttyACM1 and so on

• go to the config folder inside the eimu_ros package folder. You'll see two params file. Change the serial port value to that found in the previous step. You don't need to change the frame_id and publish_frequncy values. leave the publish_tf_on_map_frame value as it is in both param files.

• to vizualize in rviz (i.e quick test to see the IMU working), run:

  don't forget to source your ros workspace

  ros2 launch eimu_ros test.launch.py

  in another terminal run:

  rviz2

  Add TF and rotate the EIMU to see the transform from the imu frame to the map frame for test.

• to use in your project (e.g with a URDF file).

  Ensure the name of the imu link frame in your URDF FILE is the same as that of the frame_id in the eimu_ros_start_params.yaml

  First launch or run your robot's package file, then run:

  don't forget to source your ros workspace

  ros2 launch eimu_ros start.launch.py

  the imu data should now be published with (or on) the robot's imu link frame.

NOTE: Feel free to use/edit the package as you see fit on your project.