matpalm / ros-mpu6050-node

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.