DMU11 ROS 2 IMU Driver

This package provides a ROS 2-based driver for the DMU11 IMU sensor. It reads data via UART, parses the incoming packet, and publishes it as ROS2 message.

Features

• UART-based communication with the IMU
• Packet synchronization and checksum validation
• Compatible with standard sensor_msgs/msg/Imu message type
• Orientation estimation via incremental delta angles
• Publishes raw IMU values using custom message format

Supported ROS 2 Distributions

• ROS 2 Humble

Installation

cd ~/ros2_ws/src
git clone git@github.com:leo-drive/dmu11_ros2_driver.git dmu11_ros2_driver
cd ..
colcon build --symlink-install --packages-select dmu11_ros2_driver
source install/setup.bash

Launching the IMU

sudo chmod 777 /dev/ttyUSB0
ros2 launch dmu11_ros2_driver dmu11.launch.xml

Parameters

Parameter Name	Type	Default	Required on startup	Information
working_frequency	Integer	500		Frequency (Hz) at which the driver reads and publishes data.
serial_config.port	String	/dev/ttyUSB0		Serial port to which the DMU11 IMU is connected.
frame_config.imu_frame	String	imu_link		Frame ID used in the published messages.

Published Topics

Topic Name	Message type	Description
/dmu11/Imu	sensor_msgs::msg::Imu	Linear acceleration and angular velocity
/dmu11/pose	geometry_msgs::msg::PoseStamped	Orientation represented as pose
/dmu11/dmu_raw	dmu11_ros2_driver::msg::DmuRaw>	Parsed raw data from DMU11

Architecture

• SerialPort: Handles low-level UART communication with the IMU.
• Dmu11Parser: Parses binary data and converts it into usable ROS messages.
• Dmu11Receiver: Main ROS 2 node that initializes communication, processes frames, and publishes topics.

DmuRaw.msg

std_msgs/Header header

# Number of message
uint16 msg_count

# Gyro rates
geometry_msgs/Vector3 angular_rate
float64[9] angular_rate_covariance # Row major about x, y, z axes

# Linear acceleration
geometry_msgs/Vector3 linear_acceleration
float64[9] linear_acceleration_covariance # Row major x, y z

# Average Imu temperature
float64 average_imu_temp

# Delta theta
geometry_msgs/Vector3 delta_theta
float64[9] delta_theta_covariance # Row major x, y z

# Delta velocity
geometry_msgs/Vector3 delta_velocity
float64[9] delta_velocity_covariance # Row major x, y z

# System flags
uint16 system_startup_flags
uint16 system_operat_flags