ros2与传感器-整合imu传感器razor 9dof m0

ros2与传感器-整合imu传感器razor 9dof m0

说明：

• 介绍如何在ros2下使用razor 9dof m0
• 刷固件参考教程，https://www.ncnynl.com/archives/201904/2950.html

相关设备：

• razor 9dof imu m0 ：采购地址

步骤：

• 安装依赖

pip3 install pygments==2.4.1
pip3 install transforms3d
pip3 install vpython 
pip3 install wxPython 

• 源码编译

$ mkdir -p ~/sensor_ws/src
$ cd ~/sensor_ws/src
$ git clone https://github.com/ncnynl/ros2_razor_imu
$ cd  ~/sensor_ws
$ colcon build --symlink-install

测试：

• 启动imu和rviz

$ ros2 launch ros2_razor_imu razor-pub-and-display.launch.py

• 启动imu

$ ros2 launch ros2_razor_imu razor-pub.launch.py

• 启动rviz

$ ros2 launch ros2_razor_imu razor-display.launch.py