[Python] IMU test code

Basic code for the IMU test

Code

#! /usr/bin/env python

import rospy
from sensor_msgs.msg import Imu
from tf.transformations import euler_from_quaternion, quaternion_from_euler
import math


def callback(msg):
  print('----')
  print("[Quaternion]")
  print(msg.orientation.x)
  print(msg.orientation.y)
  print(msg.orientation.z)
  print(msg.orientation.w)
  print('\n[Angular velocity]')
  print(msg.angular_velocity.x)
  print(msg.angular_velocity.y)
  print(msg.angular_velocity.z)
  print('\n[Linear Acceleration]')
  print(msg.linear_acceleration.x)
  print(msg.linear_acceleration.y)
  print(msg.linear_acceleration.z)
  print("\n[Euler]")
  q = [msg.orientation.x, msg.orientation.y, msg.orientation.z, msg.orientation.w]
  (roll, pitch, yaw) = euler_from_quaternion(q)
  print(roll)
  print(pitch)
  print(yaw*180/math.pi)

count = 0

rospy.init_node('get_imu_data_node')
rate = rospy.Rate(10)
sub = rospy.Subscriber('imu_data', Imu, callback)

rospy.spin()