USB Output 9-axis IMU sensor module


USB Output 9-axis IMU sensor module contains a 9-axis sensor (Accelerometer + Gyro + Compass) IC MPU9250 made by Inven Sense Corp.


  • Can receive sensor values from the module with micro USB
  • Open source Software and Hardware

GitHub repositories

Published topics

  • imu/data_raw (sensor_msgs/Imu)

    • raw data of linear acceleration and angular velocity
  • imu/mag (sensor_msgs/MagneticField)

    • raw data of magnetic flux density
  • imu/temperature (sensor_msgs/Float64)

    • data of the sensor IC temperature


  • ~port (string, default: /dev/ttyACM0)

    • USB port name connected the sensor module
  • ~frame_id (string, default: imu_link)

    • link name of the sensor module defined in URDF
  • ~linear_acceleration_stddev (double, default: 0.023145)

    • standard deviation of linear acceleration (m/s^2)
  • ~angular_velocity_stddev (double, default: 0.0010621)

    • standard deviation of angular velocity (rad/s)
  • ~magnetic_field_stddev (double, default: 0.00000080786)

    • standard deviation of magnetic flux density (T)


rqt_plot shows 3-axis accelerations

rqt_plot shows 3-axis angular velocities

rqt_plot shows 3-axis magnetic flux densities

Wiki: rt_usb_9axisimu_driver (last edited 2020-06-23 01:23:31 by DaisukeSato)