date
2024-12-29 06:57:04 -0800

install rviz2

sudo apt install ros-humble-rviz-imu-plugin

pub

ros2 topic pub /imu sensor_msgs/msg/Imu \
  "{header: {frame_id: 'gyro_link'}, \
    orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}, \
    angular_velocity: {x: 0.1, y: 0.2, z: 0.3}, \
    linear_acceleration: {x: 0.0, y: 0.0, z: 9.8}}"

sub

ros2 topic echo /imu --field "orientation.x"

launch

load imu sensor

ros2 launch fdilink_ahrs ahrs_driver.launch.py
ros2 topic echo /imu --field orientation