<<PackageHeader(imu_transformer)>>
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Please check the <<AnswersSearch(FAQ, imu_transformer)>> for common problems, or open an [[https://github.com/ros-perception/imu_pipeline/issues|issue]] if still unsolved.

This package provides a node/nodelet combination that can be used to transform IMU data from one TF frame into another. It is a thin wrapper around a tf2 transform implemented in [[tf2_sensor_msgs]] (awaiting https://github.com/ros/geometry_experimental/pull/78).

== Node ==
{{{
#!clearsilver CS/NodeAPI
node.0 {
 name = imu_transformer_node
 desc = `imu_transformer_node` takes in IMU data (Accelerometer, Magnetometer, Gyroscope, and fused orientation), and transforms it from one frame into another.
 sub{
  0.name= imu_in/data
  0.type= sensor_msgs/Imu
  0.desc= Input IMU data
  1.name= imu_in/mag
  1.type= sensor_msgs/MagneticField
  1.desc= Input magnetometer data. For backwards compatibility, also supports geometry_msgs/Vector3
  }
 pub {
  0.name= imu_out/data
  0.type= sensor_msgs/Imu
  0.desc= Output IMU data
  1.name= imu_out/mag
  1.type= sensor_msgs/MagneticField
  1.desc= Output magnetometer data.
 }
 param {
  0.name= ~target_frame
  0.default= base_link
  0.type= string
  0.desc= Target frame to transform incoming IMU data into.  
 }
}

}}}

== Nodelet ==

Same API as node, available as `imu_transformer/imu_transformer_nodelet`.

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