a simple ros serial node for imu, such as mpu 6050.

you should change it by your serial Communication protocol. this package depend on serial: http://wiki.ros.org/rosserial/

• imu ([sensor_msgs::Imu])

  The resulting Imu orientation.

• The resulting orientation is published as a tf transform, the frame names can be set using the parameters.

• set_zero_orientation ([std_srvs/Empty])

  This service sets the current orientation as the new zero orientation so that from now on only the difference to this orientation is sent.

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

  The name of the serial port.

• time_offset_in_seconds (double, default: 0.0)

  This sets an offset which is added to the header timestamp of the imu-topic and the TF transforms. This can be used to synchronise the IMUs orientation values to values of another sensor.

• imu_frame_id (string, default: "imu_base")

  Sets the name of the base frame for imu messages.

• tf_parent_frame_id (string, default: "imu_base")

  Sets the name of the parent frame in the tf transform.

• tf_frame_id (string, default: "imu")

  Sets the name of the own frame in the tf transform.