Easy IMU Cpp Library

This library helps communicate with the already setup Easy IMU Module in your PC or microcomputer-based cpp projects, after successful setup with the eimu_setup_application.

you can use it in your microcomputer robotics project running on linux (e.g Raspberry Pi, PC, etc.)

A simple way to get started is simply to try out and follow the example code in the src folder

How to Use the .deb Package

Prequisite

• ensure you've already set up your microcomputer or PC system with ROS2

• download and install the eimu-serial-dev pkg. you can also check the release

PC (AMD64)

wget https://github.com/robocre8/eimu_serial_cpp/releases/download/v1.1.1/eimu-serial-dev_1.1.1_amd64.deb

sudo apt install ./eimu-serial-dev_1.1.1_amd64.deb

Raspberry Pi (ARM64)

wget https://github.com/robocre8/eimu_serial_cpp/releases/download/v1.1.1/eimu-serial-dev_1.1.1_arm64.deb

sudo apt install ./eimu-serial-dev_1.1.1_arm64.deb

How to Use the Library (build from source)

• you'll need to install the libserial library

    sudo apt-get update
    sudo apt install libserial-dev

-- Download (by clicking on the green Code button above) or clone the repo into your PC using git clone

Note

you can use this command if you want to clone the repo:

git clone https://github.com/robocre8/eimu_serial_cpp.git

• Ensure you have the Easy IMU Module is already calibrated.

• Connect the Easy IMU Module to your PC or microcomputer

• A simple way to get started is simply to try out and follow the example read_imu.cpp code in the src folder.

• make, build and run the example code.

  cd into the root directory

  mkdir build (i.e create a folder named build)

  enter the following command in the terminal in the root folder:

  cmake -B ./build/
  

  cmake --build ./build/
  

  ./build/read_imu
  

• You can follow the pattern used in the example read_imu.cpp in your own code and use the cpp library as fit.

Basic Library functions and usage

• connect to EIMU module

  eimu_serial::EIMUSerialClient imu;

  imu.connect("port_name or port_path")

• clear imu, filter, etc. data buffer on the EIMU module

  imu.clearDataBuffer() # returns bool -> success

• set imu reference frame -> NWU (0), ENU (1), NED (2)

  imu.setWorldFrameId(frame_id)

• get imu reference frame -> NWU (0), ENU (1), NED (2)

  imu.getWorldFrameId() # returns std::tuple -> (success, frame_id): bool, int

• adjust filter gain

  imu.setFilterGain(gain)

• read filter gain

  imu.getFilterGain() # returns std::tuple -> (success, gain): bool, float

• read all IMU data (orientation - RPY, linear acceleration, angular velocity)

  imu.readImuData() # returns std::tuple -> (success, r, p, y, ax, ay, az, gx, gy, gz): bool, float, float, float, float, float, float, float, float, float

• read Oreintation - Quaterninos

  imu.readQuat() # returns std::tuple -> (success, qw, qx, qy, qz): bool, float, float, float, float

• read Oreintation - RPY

  imu.readRPY() # returns std::tuple -> (success, r, p, y): bool, float, float, float

• read Linear Acceleration

  imu.readLinearAcc() # returns std::tuple -> (success, ax, ay, az): bool, float, float, float

• read Gyro (Angular velocity)

  imu.readGyro() # returns std::tuple -> (success, gx, gy, gz): bool, float, float, float