先编译包
需要安装rviz_imu_plugin(kinetic如下):sudo apt-get install ros-kinetic-rviz-imu-plugin
1.运行imu: roslaunch sanchi_amov imu_100D2.launch
roslaunch sanchi_amov imu_100S.launch
roslaunch sanchi_amov imu_200A.launch
roslaunch sanchi_amov imu_200S.launch
roslaunch sanchi_amov imu_300A.launch
2.运行rviz: roslaunch sanchi_amov rviz.launch
不同的型号自己改launch文件对应内容
/*******************2019.05.14*********************/
/******************添加200S的GPS*******************/
/*******************2020.05.09*********************/
/******************添加300A*******************/
200S读取GPS例子：
roslaunch sanchi_amov imu_200S.launch
rostopic echo /imu/gps
---Steven.Zhang