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USB Output 9-axis IMU sensor module

USB Output 9-axis IMU sensor module contains a 9-axis sensor (Accelerometer + Gyro + Compass) IC MPU9250 made by Inven Sense Corp.

Feature

• Can receive sensor values from the module with micro USB
• Open source Software and Hardware

GitHub repositories

• Hardware

  • https://github.com/rt-net/RT-USB-9AXIS-00

    • Firmware and Hardware information of USB Output 9-axis IMU sensor module
• ROS package

  • https://github.com/rt-net/rt_usb_9axisimu_driver

    • ROS package converts the sensor values to ROS topics

Published topics

• imu/data_raw (sensor_msgs/Imu)

  • raw data of linear acceleration and angular velocity

• imu/mag (sensor_msgs/MagneticField)

  • raw data of magnetic flux density

• imu/temperature (sensor_msgs/Float64)

  • data of the sensor IC temperature

Parameters

• ~port (string, default: /dev/ttyACM0)

  • USB port name connected the sensor module

• ~frame_id (string, default: imu_link)

  • link name of the sensor module defined in URDF

• ~linear_acceleration_stddev (double, default: 0.023145)

  • standard deviation of linear acceleration (m/s^2)

• ~angular_velocity_stddev (double, default: 0.0010621)

  • standard deviation of angular velocity (rad/s)

• ~magnetic_field_stddev (double, default: 0.00000080786)

  • standard deviation of magnetic flux density (T)

Examples

rqt_plot shows 3-axis accelerations

rqt_plot shows 3-axis angular velocities

rqt_plot shows 3-axis magnetic flux densities

Related pages

• More information about USB Output 9-axis IMU sensor module

  • https://www.rt-net.jp/products/9axisimu2?lang=en