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Questions tagged [imu]

Use the IMU tag for questions about writing software that interacts with Inertial Measurement Units.

An inertial measurement unit (IMU) is an electronic device that measures and reports a body's specific force, angular rate, and sometimes the magnetic field surrounding the body, using a combination of accelerometers and gyroscopes, sometimes also magnetometers.

IMU Wikipedia page: https://en.wikipedia.org/wiki/Inertial_measurement_unit

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How to check the IMU output angels are correctly in robot coordinates?

I have created ROS package and integrated with gazebo simulation. So also have IMU ROS driver and can check the ros topic from both side( ros package and gazebo ) correspond accordingly . So with ros2 topic list i can check the topic list. For…
Bob9710
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Improve compass heading calculations using 9DoF IMU

I've been implementing a compass using raw data from a ICM-20948 IMU. It provides me with Accelerometer, Gyro, and Magnetometer data, but I've been using only Accelerometer and Magnetometer data to calculate heading like this: float…
Filip Vuković
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How to rotate a vector with a quaternion in ahrs

I need to rotate acceleration data with the quaternion result of a ahrs. Initially, I tried to implement a very simple attitude estimator in C# (IMU Attitude Estimation from Angular Velocity rotates by roughly half the expected value. Why?), but…
Lukas Pezenka
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Reading/Writing to LSM6DSOX via SPI from Raspberry Pi

I'm having trouble reading and writing to my Adafruit LSM6DSOX IMU from my Raspberry Pi 4 running Ubuntu 20.04. I need to do it via SPI since I require the bandwidth, but I can only seem to read the WHO_AM_I register successfully. Reading/writing to…
clemfandango
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IMU data using ble protocol is in a weird format

I am working on IMU data, this data was collected using wrist watch under the protocol BLE the reading are non interpretable for…
oubo21
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IMU Attitude Estimation from Angular Velocity rotates by roughly half the expected value. Why?

I'm working on getting the orientation of an IMU in space, following the instructions from https://ahrs.readthedocs.io/en/latest/filters/madgwick.html. I can already determine the orientation on the basis of the magnetometer (this suffers badly from…
Lukas Pezenka
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Android: how to synchronise multiple IMU sensors(Accelerometer/Gyroscope/Magnetic)?

I am currently developing an android app that collects IMU datas(Accelerometer, Gyroscope and Magnetic field) for positioning, which requires a very high level accuracy in measurement time. All three sensors are set to SENSOR.DELAY.FASTEST and this…
Geng Wang
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How to combine different IMU readings (Pitch, Yaw, Roll) to achive good Attitude orientation?

I have a setup of three IMUs, consisting of MPU9250 and two MPU6050's; I am using this triple - IMU setup with STM32H7 processor and running quaternion based EKF solution for each IMU separately. As a result, I get healty Pitch - Yaw - Roll readings…
DroneKid
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Position Tracking with Acceleration Only

i am working on a Project where i want to receive position data by using an IMU mounted on a shoe. So i found out that i have to use a kalmanfilter to get valid position data. And thats the point where i begin to struggle. The most examples use a 6…
Edwin B.
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MPU9250 with STM32 - Magnetometer readings are constant

Trying to use MPU9250 IMU sensor with my STM32G431RB NUCLEO board. The IMU's accelerometer and gyroscope are working fine. However, magnetometer gives constant values. I think magnetometers power mode is set to read-once or off. However, I did not…
DroneKid
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How to change frequency of topics in bag file. Or rather make the frequency of all topics equal?

I collected this data using an Intel realsense camera and the main topics I am looking at here are: /camera/accel/sample /camera/color/image_raw /camera/gyro/sample Now the as you can see the number of messages for each topic is different and…
awaara
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BNO055 to control Nema 17 stepper motor with a4988 driver via rosserial

My goal is to control the position and speed of a Nema 17 stepper motor based on the euler angle of a BNO055 inertial measurement unit. I am using an ESP32 to flash the code via WIFI to rosserial. I am powering the Nema 17 with a 12V power source…
Paulita
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How to visualize the integration drift in a plot?

I'm trying to achieve the following image: Where red is the ground truth circle (vehicle driving in a circle), and green is the Integration Drift (numerical errors that occur when integrating). I started by plotting the circle and having…
Ilan Aizelman WS
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How to set up parameter in hector_localization stack to fuse IMU and Barometer (Pressure sensor)?

Im checking the hector_localization stack, that provide the full 6DOF pose of a robot or platform. It uses various sensor sources, which are fused using an Extended Kalman filter. Acceleration and angular rates from an inertial measurement unit…
Bob9710
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TF is broken when using robot_localization package with only IMU sensor

Im using this robot_lokalization package for the linear velocity. As only sensor input in my case is IMU. I configure the parameters and set the frames as follow map_frame: map odom_frame: odom base_link_frame:…
Bob9710
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