IMU Utils

A ROS toolkit for imu data simulation, zero-drift calibration and their joint simulation.

Highlights:

• Resolved code adaptability issues mentioned in the issues of imu_utils and code_utils
• Integrated Python code for visualizing Allan curves
• Provided instructions for building the corresponding Docker container and code for a node that generates simulated IMU data, making the entire tool ready to use out of the box

All code sources

Module	Source
imu_utils	https://github.com/gaowenliang/imu_utils
code_utils	https://github.com/gaowenliang/code_utils
vio_data_simulation	https://github.com/HeYijia/vio_data_simulation/tree/ros_version

All changes to the code

1. code_utils/src/*.cpp: modify CV_MINMAX to CV_MMX, modify CV_LOAD_IMAGE_UNCHANGED to IMREAD_UNCHANGED
2. code_utils/CMakeLists.txt: add include path include_directories("include/code_utils")
3. Create imu_utils/launch/imu.launch to get imu data from rosbag play
4. vio_data_simulation/src/imu.cpp/IMU::testImu(): modify Euler integral to median integral
5. Modify imu_utils/scripts/*.m to imu_utils/scripts/matlab/*.m and add imu_utils/scripts/python/*.py

How to use

Environment prepare

• ROS 1
• OpenCV
• Ceres 2.2.0
• Boost

or Docker:

• Docker Enginer
• Docker Compose 2.X
• VS Code (Recommend)
  • Docker
  • Remote Development
  • C/C++ Extension Pack

chmox +x start_dev.sh
bash start_dev.sh

Compile Source Code

cd /ws
catkin_make -DCATKIN_WHITELIST_PACKAGES="code_utils" 
catkin_make -DCATKIN_WHITELIST_PACKAGES="imu_utils"
catkin_make -DCATKIN_WHITELIST_PACKAGES="ros_imu"
catkin_make

Simulation

cd /ws
source devel/setup.bash
rosrun vio_data_simulation vio_data_simulation_node

cd /ws
source devel/setup.bash
roslaunch imu_utils imu.launch

rosbag play -r 500 /root/imu.bag

cd src/imu_utils/scripts/python
python3 draw_allan.py

Real IMU

If you cannot find /dev/ttyUSB0, this page may help: https://askubuntu.com/questions/1403705/dev-ttyusb0-not-present-in-ubuntu-22-04

cd /ws
source devel/setup.bash
roslaunch imu_utils im10a.launch

cd /ws
source devel/setup.bash
roslaunch ros_imu imu.launch

Then just waiting for imu_utils to finish