imu_ros2

A reusable, unified, and highly optimized IMU framework for F1TENTH.

Key Features

• ROS-Independent Core: The driver logic is completely isolated in a pure C++17 library.
• Unified Interface: Supports multiple IMUs (ICM-20948, BMI160) through a simple DriverFactory.
• Zero-Allocation Fast Loop: Specifically designed for 200–400 Hz output with minimal CPU overhead.
• Midpoint Timestamping: Captures steady_clock before and after the I²C read transaction for accurate timing.
• Clean Output: Publishes strictly sensor_msgs/Imu on /imu/data_raw (REP-145). Orientation estimation must be performed externally via imu_filter_madgwick or robot_localization.

Architecture Rule

Rule: The driver layer (core and drivers) must never include ROS headers (#include <rclcpp/rclcpp.hpp>). This enforces strict separation between hardware logic and the ROS application.

Quick Start

Build

colcon build --packages-select imu_ros2

Run

ros2 launch imu_ros2 imu_launch.py

Calibration

A standalone (ROS-independent) tool is provided to compute the gyroscope bias quickly:

ros2 run imu_ros2 calibrate_gyro icm20948 /dev/i2c-7 0x68

Add the outputs to your YAML file!