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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



imu_transformer_node takes in IMU data (Accelerometer, Magnetometer, Gyroscope, and fused orientation), and transforms it from one frame into another.

Subscribed Topics

imu_in/data (sensor_msgs/Imu)
  • Input IMU data
imu_in/mag (sensor_msgs/MagneticField)
  • Input magnetometer data. For backwards compatibility, also supports geometry_msgs/Vector3

Published Topics

imu_out/data (sensor_msgs/Imu)
  • Output IMU data
imu_out/mag (sensor_msgs/MagneticField)
  • Output magnetometer data.


~target_frame (string, default: base_link)
  • Target frame to transform incoming IMU data into.


Same API as node, available as imu_transformer/imu_transformer_nodelet.

Wiki: imu_transformer (last edited 2015-02-17 22:03:40 by PaulBovbel)