Use iPhone as IMU in ROS

Photo by Jason Leung on Unsplash

For a project, I needed IMU data in ROS but didn’t have any sensors. So I used my iPhone by downloading the SensorLog App and writing a ROS node to receive real-time data and republish it on a topic.

The only thing is that the App I used costs $4.99, but if you find a free one and modify my code write it in the comments.

The ROS node works by enabling only from the application “unbiased: user acceleration, attitude, gravity, heading, magnetic field, rotation”

This is my configuration:

Image by Author

After configuring the application, configure the ROS node by customizing the file “imu_from_ios_sensorlog.launch”.

To Run the node:

roslaunch imu_from_ios_sensorlog imu_from_ios_sensorlog.launch

After you launch you have to press in the App this button: