Arduino code(mpu6050_imu_driver/firmware) employing rosserial to retrieve a quaternion from the mpu6050 DMP.

Then, another ROS node(mpu6050_imu_converter) publishing IMU & Pose messages to ROS.

The package is tested on Arduino Uno compatible & Asus Tinker board(Raspiberry Pi or PC maybe OK).

・MPU-6050 GY521

・DFRobot Romeo mini v1.1(or Arduino UNO compatible etc)

・ROS kinetic(or melodic)

・Ubuntu 18.04 Tinker board(or Raspiberry Pi, PC etc)

$roslaunch mpu6050_imu_driver mpu6050_imu.launch

Video on youtube -> https://youtu.be/h508BTedKtk

Explained in Japanese

jrowberg/i2cdevlib

Optimization