ROS2与传感器教程-整合TM431 imu传感器

说明:

• 介绍如何在ros2下使用TM431 imu传感器

步骤：

• 安装TM431 imu传感器驱动

mkdir -p ~/ros2_commons_ws/src
cd ~/ros2_commons_ws/src
git clone https://gitee.com/ncnynl/transducerm_imu
cd .. 

• 编译

colcon build 
source ~/imu_ws/install/setup.bash 

• 启动imu

ros2 launch transducerm_imu tm_serial_launch.py

• 查看话题

ros2 topic list
/imu_data
/parameter_events
/rosout

• 查看TM431 imu数据

ros2 topic echo /imu_data

---
header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: ''
orientation:
  x: 0.6650838851928711
  y: 0.12338171899318695
  z: 0.736484169960022
  w: -0.005607840605080128
angular_velocity:
  x: 0.0
  y: 0.0
  z: 0.0
linear_acceleration:
  x: 0.0
  y: 0.0
  z: 0.0
roll: 126.41863250732422
pitch: -78.81820678710938
yaw: 244.09439086914062
---