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438 integrate xsens imu#441

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geurto wants to merge 12 commits intomainfrom
438-integrate-xsens-imu
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438 integrate xsens imu#441
geurto wants to merge 12 commits intomainfrom
438-integrate-xsens-imu

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@geurto geurto commented Apr 10, 2026

Description

This PR adds the alliander_xsens package, which integrates the Xsens IMU.

  • Imu platform added
  • Xsens driver node added
  • IMU bridge added to bridge topics for madgwick filter (optional for future IMUs)
  • Madgwick filter added to obtain heading estimate from magnetic field + angular velocity + linear acceleration measurements (optional for future IMUs)
  • (downsampled) mesh added for Xsens IMU, along with URDF

Fixes: #438

Testing

  • Tested in simulation to ensure URDF/mesh is correct
  • Tested with hardware on laptop
  • Tested with hardware on PAnther

Documentation

  • I have updated the documentation (if necessary)

Additional Notes

Any relevant screenshots, logs, or context.

geurto added 4 commits April 8, 2026 15:51
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto geurto linked an issue Apr 10, 2026 that may be closed by this pull request
4 tasks
geurto and others added 8 commits April 10, 2026 15:50
Signed-off-by: Peter Geurts <25298249+geurto@users.noreply.github.com>
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
…n first try

Signed-off-by: Peter Geurts <peter.geurts@proton.me>
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
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Integrate Xsens IMU

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