roscpprtimulib - C++ app demonstrating RTIMULib with ROS

This is a C++ demo program showing how RTIMULib can be used with ROS. It is essentially the same as Romain Reignier's original implementation (https://github.com/romainreignier/rtimulib_ros) with a few small tweaks. In particular, the publish rate is now the same as the sample rate and accelerations are sent in m/s/s.

The contents of this repo are released under the the BSD license.

Build

Testing was performed using ROS Jade on a Raspberry Pi 2 running Ubuntu 14.04. ROS Jade should be installed from here - http://wiki.ros.org/jade/Installation/UbuntuARM.

Installing RTIMULib

The first thing to do is to clone the RTIMULIb repo:

    cd ~
    git clone git://github.com/richards-tech/RTIMULib

Alternatively clone RTIMULib2 instead of RTIMULib to get the latest developments including simplified magnetometer calibration.

To use roscpprtimulib it is necessary to install RTIMULib using the CMake method:

    cd RTIMULib/Linux
    mkdir build
    cd build
    cmake .. -DBUILD_DEMO=0 -DBUILD_GL=0
    make -j4
    sudo make install
    sudo ldconfig

ROS build

Once the appropriate RTIMULib install has been performed enter:

    cd ~/
    git clone git://github.com/richards-tech/roscpprtimulib
    cd roscpprtimulib 
    catkin_make
    source devel/setup.sh

Run

If roscore is running on a different machine, add the following two lines to the .bashrc file on the Raspberry Pi 2:

    export ROS_MASTER_URI=http://<roscore IP address>:11311
    export ROS_IP=<raspberry pi IP address>

To run roscpprtimulib enter:

    roslaunch roscpprtimulib roscpprtimulib.launch

rostopic can be used to check if things are working:

    rostopic echo /imu

Calibration

As usual, magnetometer calibration is an issue and calibration needs to be performed using the RTIMULibCal program in the RTIMULib repo - https://github.com/richards-tech/RTIMULib/tree/master/Linux/RTIMULibCal. The resulting RTIMULIb.ini should be copied into the package directory.