imu_tf_viz
Figure: imu_tf_viz node diagram.
Summary
Subscribes to the fused data from the IMU on the UiAbot and broadcasts the orientation of a temporary imu frame w.r.t a world frame. This makes it possible to visualize the IMU orientation in RViz by choosing the world frame as the fixed frame, and adding the tf plugin to show the imu frame.
Usage
Run:
ros2 run uiabot imu_tf_viz
Interfaces
Subscribers
Topic |
Message type |
Description |
|---|---|---|
bno055/data |
sensor_msgs/Imu |
Fused IMU data. |