IMU里程计 ros程序

好的，以下是一个简单的IMU里程计ROS程序的示例：

#!/usr/bin/env python

import rospy
from sensor_msgs.msg import Imu
from nav_msgs.msg import Odometry
from geometry_msgs.msg import Quaternion, Twist, Vector3

class ImuOdom:
    def __init__(self):
        rospy.init_node('imu_odom')
        self.imu_sub = rospy.Subscriber('/imu/data', Imu, self.imu_callback)
        self.odom_pub = rospy.Publisher('/odom', Odometry, queue_size=10)
        self.last_time = rospy.Time.now()
        self.x = 0
        self.y = 0
        self.th = 0

    def imu_callback(self, msg):
        current_time = rospy.Time.now()
        dt = (current_time - self.last_time).to_sec()
        self.last_time = current_time

        # orientation quaternion to Euler angles
        q = msg.orientation
        roll, pitch, yaw = tf.transformations.euler_from_quaternion([q.x, q.y, q.z, q.w])

        # angular velocity
        ang_vel = msg.angular_velocity.z

        # compute linear velocity
        linear_vel = Twist(Vector3(0, 0, 0), Vector3(0, 0, ang_vel))

        # compute displacement
        self.x += linear_vel.linear.x * dt
        self.y += linear_vel.linear.y * dt
        self.th += ang_vel * dt

        # create odom message
        odom = Odometry()
        odom.header.stamp = current_time
        odom.header.frame_id = "odom"
        odom.child_frame_id = "base_link"

        # position
        odom.pose.pose.position.x = self.x
        odom.pose.pose.position.y = self.y
        odom.pose.pose.position.z = 0.0

        # orientation
        odom.pose.pose.orientation = Quaternion(*tf.transformations.quaternion_from_euler(0, 0, self.th))

        # velocity
        odom.twist.twist = linear_vel

        # publish odom message
        self.odom_pub.publish(odom)

if __name__ == '__main__':
    try:
        imu_odom = ImuOdom()
        rospy.spin()
    except rospy.ROSInterruptException:
        pass

这个程序订阅IMU数据，根据角速度计算线速度和位移，并发布里程计信息。你需要在程序中设置IMU话题的名称和发布里程计信息的话题名称以及坐标系的名称，以适应你的机器人系统。

注意，这只是一个示例程序，可能需要根据你的具体需求进行修改和优化。