c++ ROS node wrapper for the mpu6050 gyroscope / accelerometer.
Publishes sensor_msgs::IMU messages at 10Hz to /mpu6050 topic.
Specifically populates angular_velocity & linear_acceleration.
on rasp pi 2 uses ~1% cpu and <1% mem
rostopic echo /mpu6050
---
header:
seq: 87
stamp:
secs: 0
nsecs: 0
frame_id: ''
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: -2.27480912209
y: 0.618320584297
z: -0.648854970932
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
x: 0.0751953125
y: -0.05419921875
z: 1.01928710938
---
TODOS
- no tf support at all, at very least some kind of zeroing service call would be nice... (also set frame_id)
- no handling of sensor noise (though perhaps better to include directly in filter using this for tracking actual rover)
- populate covariance values.