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.
Instructions are based on the original published ROS driver.
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/lisusdaniil/dmu_ros
cd ~/catkin_ws
then run
catkin_make
or
catkin build dmu_ros
Add this command to your ~/.bashrc file if you want this driver to be sourced automatically.
source devel/setup.bash
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