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Welcome to the CompRobo_IMU_Sensor_fusion wiki!

To install, clone the repo onto your computer.

Also clone this repo which contains the code to read imu data from the web socket and publish to ros, as well as code to run on the arduino firmware. https://github.com/xiaozhengxu/razor_imu_9dof

On the raspberry pi, clone and pull from https://github.com/xiaozhengxu/CompRoboPrep. The only file that changed from Paul's CompRoboPrep is imu_redirect.py in CompRobo/PiSetupFiles.

Because of a serial issue, make sure to turn on the pi without the imu plugged in, and then plug in the imu when the pi is started up fully.

To run our kalman filter with combined Odometry data published to ros topic combined_odom, type the following in command line:

 roslaunch comprobo_imu_sensor_fusion bringup.launch host:= IP_address of rasp pi 

You should now be able to see combined_odom messages that incorporates imu data.