How to convert IMU data to quaternion orientation

Question

Hello

I'm trying to fuse my IMU data (and GPS data) with the package robot_localization. Therefore, I have to put my IMU data into a sensor_msgs/Imu message. I know it is possible to convert my IMU data (accelerometer, gyroscope and magnetometer) into a quaternion orientation message. However, I wonder if there is a package available to do this transformation for me, or do I have to write code myself? If so, how would I start?

Thanks in advance! Kind regards Robbe

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Originally posted by Robbe_C on ROS Answers with karma: 23 on 2018-03-20

Post score: 1

Answer 1

Just to clarify - you are not converting your accelerometer / gyros / magnetometer measurements into an orientation, you are using those raw measurements to estimate your orientation. The madgwick and complementary filter are both capable of doing exactly what you need.

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Originally posted by stevejp with karma: 929 on 2018-03-20

This answer was ACCEPTED on the original site

Post score: 2

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Original comments

Comment by ahendrix on 2018-03-20:
The robot_localization package that the OP originally suggested can also do this.

Comment by stevejp on 2018-03-20:
@ahendrix I didn't think robot_localization dealt directly with magnetometer measurements. Can you explain how you would do this?

Comment by ahendrix on 2018-03-21:
I believe the navsat_transform_node can handle magnetometer measurements: http://docs.ros.org/lunar/api/robot_localization/html/navsat_transform_node.html

Comment by Robbe_C on 2018-03-21:
Thank you for the quick respone! I think you are talking about the use_odometry_yaw parameter of navsat_transform_node, right? Maybe that's even easier.

Comment by stevejp on 2018-03-21:
I don't think the navsat_transform_node is what you need. Navsat_transform is used to transform GPS measurements into odometry which you can fuse in robot_localization.