A GY88 IMU - Raspberry PI interface as a ROS package

This repo is a ROS package to interface with the chipset on the GY88 IMU. The package features the (so far) MPU6050 and the HMC5883L chips, and most of their outputs.

Features

So far what's included is: Acceleration in x, y and z. Gyroscope in x, y, z and magnetometer in x, y, z and angle.

The package also features a custom ros msg:

float64 accel_x
float64 accel_y
float64 accel_z

float64 gyro_x
float64 gyro_y
float64 gyro_z

float64 compass_x
float64 compass_y
float64 compass_z

Getting started

This package relies on the wiringPi library. Installation is simple:

$ git clone git://git.drogon.net/wiringPi
$ cd wiringPi
$ git pull origin
$ ./build

Usage

To run this package simply: $ rosrun gy_88_interface gy_88_interface_node and the node will start publishing to the gy88_data topic. Afterwards to get the data all it takes is to subscribe to this topic.

Authors

This package and interface has been developed by David Michalik for the use on the project Project Name.

License