Description

Driver for Silicon Sensing DMU-class IMU sensors. Supports both DMU11 and DMU41.

Based on the original archived repository, with minor changes to make the driver & rviz work with DMU41.

Installation Instructions

Instructions are based on the original published ROS driver.

Clone directory

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src  
git clone https://github.com/lisusdaniil/dmu_ros

Build Package

cd ~/catkin_ws

then run

catkin_make

or

catkin build dmu_ros

Source Package

Add this command to your ~/.bashrc file if you want this driver to be sourced automatically.

source devel/setup.bash

Running the Driver

Change the respective launch file. For example, for a sensor connected to /dev/ttyUSB0, set:

<param name="device" value="/dev/ttyUSB0"/>

To launch the driver with an RVIZ visualization, run

roslaunch dmu_ros dmu11.launch

or

roslaunch dmu_ros dmu41.launch

depending on the connected sensor. To run the driver in the background with no RVIZ, simply run

roslaunch dmu_ros dmu_background.launch