# ROS2 package for analysing IMU noise parameters

**URL:** <https://discourse.openrobotics.org/t/ros2-package-for-analysing-imu-noise-parameters/29127>\
**Category:** Projects\
**Tags:** foxy\
**Created:** [January 9, 2023, 5:40pm UTC](https://discourse.openrobotics.org/t/ros2-package-for-analysing-imu-noise-parameters/29127 "2023-01-09T17:40:53Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![crux](https://avatars.discourse-cdn.com/v4/letter/c/a6a055/32.png) [@crux](https://discourse.openrobotics.org/u/crux)\
**Post date:** [January 9, 2023, 5:40pm UTC](https://discourse.openrobotics.org/t/ros2-package-for-analysing-imu-noise-parameters/29127/1 "2023-01-09T17:40:53Z")

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Hello Everyone,

I’ve written a package to identify sensor noise in IMU’s.

**Why ?**  
I’m currently working on a vision based drone and needed a tool to identify IMU noise for use with VIO and filters. I’m using the relatively new microdds\_client to interface with PX4. I couldn’t find a package that supported ROS2 or px4\_msgs. So I wrote one myself. converting bags and message types are annoying.

**Features**

1. Outputs noise parameters file for Kalibr.
2. Supports both `sensor_msgs/Imu.msg` and `px4_msgs/VehicleImuStatus.msg` to interface with PX4-ROS2 stack, No conversion required.
3. Uses `rosbag2_cpp` API to sample data from bag, No playback and waiting for hours.

[Link to repo](https://github.com/CruxDevStuff/allan_ros2)