This code is a slight modification of Romain Reigner's ROS node for use with RTIMU Lib, which can be found here: https://github.com/romainreignier/rtimulib_ros This modified code is desgined to be used by Nova Rover for URC 2018.
The IMU unit being used: http://www.robotshop.com/en/imu-10-dof-16g-3-axis-accelerometer-2000--s-gyromagnetometerbarometer-c.html
- RTIMULib2 (modified to include MPU9255) (https://github.com/Nick-Currawong/RTIMULib2)
- libRTIMULib.so must be copied and pasted from the include/RTIMULib/build directory into /devel/lib
The module should be connected to the Raspberry Pi as such:
IMU Module: Raspberry Pi:
- Vcc --> 3.3V
- GND --> Ground
- SDA --> SDA1
- SCL --> SCL1
Topic: /rtimulib_node/imu
Msg type: sensor_msgs/imu
Description: Outputs orientation, angular velocity (from gyro) and linear acceleration in the x, y and z directions.