Arduino AHRS code connected to ROS via rosserial. Atom & Platformio environment required for build this project. Rosserial package also required for gather ahrs topic from arduino. this package use Madgwick AHRS Algorithm
Atom : https://atom.io/
Platformio : http://platformio.org/
Rosserial : http://wiki.ros.org/rosserial
##Tutorial
- Install Atom and Platformio and setup your hardware
Arduino UNO HMC5883L MPU6050
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Clone this repo on your workspace
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Upload this firmware to arduino (Ctrl + Alt + U)
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Launch rosseiral node (CAUTION : DO NOT MOVE Gyro when power up arduino. && Serialport num(dev/ttyACMX) can be changed)
rosrun rosserial_python serial_node.py _baud:=1000000 /dev/ttyACM0
- It gives you imu/Quaternion topic