High-precision IMU Attitude Sensor Usage Tutorial

Download the Compressed PacketIMU_ROS1.zip, unzip it, and then enter ~/IMU_Library

1. **Install the required Python libraries for the code **

pip install pyserial
pip install smbus2

2. **Install the IMU_Library **

# Install the library and its dependencies
pip install -e .

# Or install with setup.py
python setup.py install

3. Set Port Mapping

# To prevent the port from changing after unplugging, set up port mapping
sudo gedit /etc/udev/rules.d/99-serial-imu.rules

# If the message that the gedit command is not found appears, install it first
sudo apt install gedit

# Fill in the mapping content
KERNEL=="ttyUSB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", MODE:="0777", SYMLINK+="imu-serial"

# Parameter description:
`--mode`: Communication mode: `serial` (serial port) or `i2c`
`--port`: Serial port name (e.g., `/dev/ttyUSB0`) or I2C port number (e.g., `7`)
`--rate`: Data printing frequency (Hz), default 10Hz
`--debug`: Enable debug mode, show detailed information

# Save and exit, then run the command to apply the rules
sudo udevadm trigger
sudo service udev reload
sudo service udev restart

# Verify
ll /dev/imu-serial

# Output example:
lrwxrwxrwx 1 root root 7 1月 22 10:00 /dev/imu-serial -> ttyUSB0

Serial Communication

1. Enter the ~/IMU_Library/IMU_Library directory and run the IMU_Serial_Library.py file

cd ~/imu_ros1/src/IMU_ROS1/IMU_Library/IMU_Library 
# or
cd ~/imu_ros2/src/IMU_ROS2/IMU_Library/IMU_Library

# Run the IMU data printing file
python3 IMU_Serial_Library.py

I2C Communication

1. Enter the ~/IMU_Library/IMU_Library directory and run the IMU_I2C_Library.py file

cd ~/IMU_Library/IMU_Library

# Run the IMU data printing file
python3 IMU_I2C_Library.py

IMU Calibration

1. Enter the ~/IMU_Library/IMU_Library directory and run the imu_calibration_tool.py file

cd ~/IMU_Library/IMU_Library

# Run the IMU calibration code file -- serial communication calibration
# Run all calibrations (full, magnetometer, temperature)
python3 imu_calibration_tool.py --mode serial --port /dev/imu-serial

# Full calibration only
python3 imu_calibration_tool.py --mode serial --port /dev/imu-serial --calibrate imu

# Magnetometer only
python3 imu_calibration_tool.py --mode serial --port /dev/imu-serial --calibrate mag

# Temperature only
python3 imu_calibration_tool.py --mode serial --port /dev/imu-serial --calibrate temp

# Run the IMU calibration code file -- I2C communication calibration
# Run all calibrations (full, magnetometer, temperature)
python3 imu_calibration_tool.py --mode i2c --port 1

# Full calibration only
python3 imu_calibration_tool.py --mode i2c --port 1 --calibrate imu

# Magnetometer only
python3 imu_calibration_tool.py --mode i2c --port 1 --calibrate mag

# Temperature only
python3 imu_calibration_tool.py --mode i2c --port 1 --calibrate temp

Official Repository Example

Juxi Technology provides complete open-source code for the IMU module: GitHub

ROS1 / ROS2 Examples

The repository natively supports ROS1 and ROS2, including calibration tools and visualization nodes:

git clone https://github.com/Juxi-Technology/ICM42670P-High-Precision-IMU-Module.git
cd ICM42670P-High-Precision-IMU-Module

# ROS2
colcon build
source install/setup.bash
ros2 launch icm42670p imu_launch.py

Python Calibration Tool

# Run six-face calibration to obtain accurate accelerometer and gyroscope bias
python calibration/calibrate.py --port /dev/ttyUSB0

• IMU Inertial Module
  • Product Info
  • Web Host Console
  • MicroDuck Integration
  • IMU Calibration
  • Remote File Transfer
  • SSH File Transfer
• Multi-Board Examples
  • Overview
  • PC Communication
• I2C Communication
  • Arduino
  • Jetson Series
  • Raspberry Pi 5
  • RDK Series
  • STM32 F103C8T6
• Serial Communication
  • Arduino
  • Jetson Series
  • Raspberry Pi 5
  • RDK Series
  • STM32 F103C8T6
• ROS Examples
  • ROS1 Application
  • ROS2 Application