IMU Topics

The imu topics are managed by the imu service and handles publishing the orientation of the device. The service also supports publishing the angular velocity and linear acceleration of the device

The imu topic is published under the imu topic, relative to the device hostname namespace, at the sensor report rate of roughly 100 to 140 Hz. The sensor timeout and Zenoh settings are configured in /etc/default/imu, refer to Configuration.

imu

The imu topic publishes information about the device's orientation, angular velocity, and linear acceleration using the Imu schema.

The XYZ coordinate system follows the standard ROS convention of x forward, y left, z up.

Usage	Link
Web UI	IMU Page
Foxglove	IMU Data Plotting Example
SDK	IMU Example