CCNYRoboticsLab/imu_tools

Health v2 · maintenance only

Flags: no_releases no_license

Adoption not part of the score

1124 stars · 483 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

A collection of ROS/ROS2 packages for IMU sensor processing, including Madgwick and complementary filters that fuse gyroscope, accelerometer, and magnetometer readings into orientation quaternions. It also provides an rviz plugin for visualizing sensor_msgs::Imu messages.

Use cases

• fuse IMU sensor readings into orientation estimates
• filter noisy gyroscope and accelerometer data in ROS
• estimate robot orientation quaternion from IMU
• visualize IMU messages in rviz
• reduce yaw drift in IMU orientation tracking
• preprocess IMU data for robot state estimation

When to choose

• you use ROS or ROS2 with an IMU device and need orientation filtering
• you want well-established Madgwick or complementary filter implementations
• you need to visualize sensor_msgs::Imu messages in rviz
• you want packages available as binaries across ROS distributions

When to avoid

• you need full state estimation fusing IMU with odometry and GPS - use robot_localization instead
• you are not using the ROS ecosystem
• you need a general-purpose sensor fusion library outside robotics middleware

Facets

library · maturity active

simulation robotics middleware plugin-system data-visualization robotics embedded-systems developer-tools cpp ros ros2 imu sensor-fusion madgwick-filter complementary-filter rviz-plugin orientation-estimation linux

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