imu tool使用

安装imu tool
sudo apt-get install ros-melodic-imu-tools

launch文件：
<!-- imu_node launch file-->
<launch>
  <node pkg="imu_driver" type="imu_node" name="imu_node" output="screen" >
        <param name="baudrate" type="int" value="" />
        <param name="port" type="string" value="/dev/imu" />
        <param name="looprate" type="int" value="" />
        <param name="frame_id" type="string" value="imu_link"/>
             <remap from="/imu/data" to="/imu/data_raw" />
    </node>

  <node pkg="imu_complementary_filter" type="complementary_filter_node"
      name="complementary_filter_gain_node" output="screen">
    <param name="do_bias_estimation" value="true"/>
    <param name="do_adaptive_gain" value="true"/>
    <param name="use_mag" value="false"/>
    <param name="gain_acc" value="0.01"/>
    <param name="gain_mag" value="0.01"/>
  </node>

</launch>

参考：

http://wiki.ros.org/imu_tools