As part of an extended project I was working on a couple years ago, I made a Tinkerforge IMU Bricks V2 driver. It came to my attention from chatting with a colleague that this still remains to be one of the only USB IMU options and might be more popular with some of the hobbyist crowd. So I’d like to announce my open-sourcing of this basic IMU driver under an Apache 2.0 license.
It also goes to show how simple a ROS driver really needs to be. If you have stable hardware, there’s no need for more complex code than this. If you have unstable hardware, a while loop and some watch dogs are needed but don’t over-complicate it.
The driver also includes install scripts to download and install the tinkerforge software and daemons required to operate with one line
./tinkerforge_imu_ros/install.sh and you’re on your way with the provided launch files.
Note: Currently, it only provides the IMU’s orientation and orientation covariance information. If you have use for the angular velocities & linear accelerations, PRs are always appreciated. If someone submits a PR to implement that, I’ll spend some cycles to port it all over to ROS2.