# CCNYRoboticsLab/imu_tools

ROS tools for IMU devices

Repository: https://github.com/CCNYRoboticsLab/imu_tools
Canonical: https://ross.abutalabs.com/products/imu_tools
Language: C++
License: NOASSERTION
License Family: other
Last push: 2026-06-15T19:23:25+00:00

## Health v2 (maintenance only)
Score: 71/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 87, release rhythm 35, longevity 100
- inputs: {"age_days": 5188, "days_push": 79, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases, no_license
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1124, forks 483 (observed 2026-08-28T04:03:40.620416+00:00)

## What it is
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
- artifact type: library
- maturity: active
- function: simulation, robotics, middleware, plugin-system, data-visualization
- domain: robotics, embedded-systems, developer-tools
- platform: cpp
- tags: ros, ros2, imu, sensor-fusion, madgwick-filter, complementary-filter, rviz-plugin, orientation-estimation, linux

## Member repositories
- CCNYRoboticsLab/imu_tools (main) score 71

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:03:40.620416+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T06:39:36.713904+00:00, confidence not recorded.
  - readme: https://github.com/CCNYRoboticsLab/imu_tools (fetched 2026-08-28T04:03:40.620416+00:00, sha 81e8d74f871a)
- Data as of 2026-08-30T08:39:29.467469+00:00.