Imu Node

IMU Data Acquisition

Topic

Topic Name	Description
/imu/livox_front	Front lidar IMU
/imu/livox_back	Rear lidar IMU
/imu_chassis	Chassis IMU

Message Type

sensor_msgs::msg::Imu

Field	Type	Description
header	std_msgs/Header	Message header, contains timestamp and coordinate frame information
angular_velocity	geometry_msgs/Vector3	3D angular velocity (rad/s)
linear_acceleration	geometry_msgs/Vector3	3D linear acceleration (m/s²)

Launching the ROS2 Forwarding Node

1. Launch with Default Configuration

source ~/.cache/agibot/app/gdk/scripts/ros_env.sh gdk_imu
ros2 launch gdk_imu imu.launch.py

This will launch all default IMU topics: - /imu/livox_front - /imu/livox_back - /imu/chassis

2. Custom IMU Topics

source ~/.cache/agibot/app/gdk/scripts/ros_env.sh gdk_imu

# Launch only specific IMU topics
#ros2 launch gdk_imu imu.launch.py imu_topics:="/imu/livox_back,/imu/livox_front"

# Launch a single IMU topic
#ros2 launch gdk_imu imu.launch.py imu_topics:="/imu/chassis"