运行serial_node包
rosrun rosserial_python serial_node.py __name:=turtlebot3_core _port:=/dev/ttyACM0 _baud:=115200
测试
rostopic echo /imu
结果
header:
seq: 179
stamp:
secs: 1486448047
nsecs: 147523921
frame_id: imu_link
orientation:
x: 0.0165222994983
y: -0.0212152898312
z: 0.276503056288
w: 0.960632443428
orientation_covariance: [0.0024999999441206455, 0.0, 0.0, 0.0, 0.0024999999441206455, 0.0, 0.0, 0.0, 0.0024999999441206455]
angular_velocity:
x: 2.0
y: 1.0
z: -1.0
angular_velocity_covariance: [0.019999999552965164, 0.0, 0.0, 0.0, 0.019999999552965164, 0.0, 0.0, 0.0, 0.019999999552965164]
linear_acceleration:
x: 528.0
y: 295.0
z: 16648.0
linear_acceleration_covariance: [0.03999999910593033, 0.0, 0.0, 0.0, 0.03999999910593033, 0.0, 0.0, 0.0, 0.03999999910593033]
---
github仓库：
https://github.com/ROBOTIS-GIT/OpenCR
详情：
https://github.com/ROBOTIS-GIT/OpenCR/wiki
