= Pose Estimation Sensors =

A pose estimation sensor may provide information about the absolute or relative position and orientation of a robot. These sensors include gyroscopes, magnetometers, accelerometers, satellite navigation systems, which are often packaged together as a single hardware device with an internal state estimator providing a fused output.

<<TOC(3)>>

== Tutorials ==
 * [[gpsd_client/Tutorials|gpsd_client tutorials]]

== Drivers ==
=== Composite ===
 * [[applanix_driver|Applanix Position and Orientation System for Land Vehicles]]
 * [[xsens_driver|Xsens MTi-G IMU+GPS]]
 * [[microstrain_inertial_driver|MicroStrain INS products (GQ7, CV7-INS, GV7-INS)]]

=== Satellite Navigation Systems ===
 * [[gpsd_client|gpsd_client]]

=== IMU ===
 * [[adi_driver|adi_driver: Analog Devices Inc. IMU(ADIS16470) and accelerometer(ADXL345)]]
 * [[bma180|Bosch Sensortec BMA180 3-axis accelerometer]]
 * [[smi540|Bosch SMI530/540 3-axis sensor]]
 * [[dmu11driver|DMU11 sensor]]
 * [[duo3d-driver|DUO3D™ sensor]]
 * [[ixblue_ins_driver|iXblue Atlans series]]
 * [[microstrain_inertial_driver|MicroStrain IMU products (GX5, CX5, CV5, CV7, GV7)]]
 * XSens MT
   * [[lse_xsens_mti|Xsens MTi node]]
   * [[xsens_driver|Xsens MTx/MTi]]
 * Witmotion Shenzhen Co. TTL/UART-compatible IMU sensors
   * [[witmotion_ros|witmotion_ros - Qt-based configurable ROS driver]]
   * [[wit_node|wit motion 9-axis IMU and GPS module - POSIX-based ROS driver]]

== Clients ==
=== Satellite Navigation Systems ===
 * [[gpsd_viewer|gpsd_viewer]]
 * [[ground_station|ground_station]]

=== IMU ===
 * [[rviz|rviz]]

== API ==

=== Satellite Navigation Systems ===
The API for Navigation Satellite position information is in the process of standardization with <<MsgLink(sensor_msgs/NavSatFix)>> recently approved after community [[sensor_msgs/Reviews/2010-05-31 GPS Proposal_API_Review|review]]. For interoperability <<MsgLink(sensor_msgs/NavSatFix)>> should be considered for new packages.

==== Messages ====
|| <<MsgLink(sensor_msgs/NavSatFix)>> || <<MsgLink(gps_common/GPSFix)>> ||
|| <<MsgLink(art_msgs/GpsInfo)>> || ||

=== IMU ===
The standard message for inertial measurement units is <<MsgLink(sensor_msgs/Imu)>>.

{{{#!wiki note
If you have no estimate for one of the data elements (e.g. your IMU doesn't produce an orientation estimate), please set element 0 of the associated covariance matrix to -1

If you are interpreting this message, please check for a value of -1 in the first element of each covariance matrix, and disregard the associated estimate.
}}}

==== Messages ====
|| <<MsgLink(sensor_msgs/Imu)>> || <<MsgLink(bma180/bma180meas)>> ||
|| <<MsgLink(smi540/smi540meas)>> || ||

==== Services ====
|| <<SrvLink(diagnostic_msgs/SelfTest)>> || [[imu_drivers#RosAPI|imu/calibrate]] ||

== Support ==
[[microstrain_3dmgx2_imu/Troubleshooting|microstrain_3dmgx2_imu/Troubleshooting]]
[[http://answers.ros.org/|ROS Answers]]