Epson IMU ROS 2 driver (ess_imu_driver2)

A ROS 2 node that configures Epson IMUs and publishes their gyro, accelerometer, orientation and temperature data over UART or SPI.

Licenses

Code: BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE.txt (opens in a new tab) (BSD-3-Clause) at commit 6f3d1d5 (opens in a new tab), on 22 Oct 2026.
Commercial use: Yes

Wraps a Linux C driver for Epson IMUs in a ROS 2 C++ node, with separate nodes for UART and SPI connections.
Publishes IMU messages on /imu/data or /imu/data_raw following REP 145, and temperature on /epson_imu/tempc.
Launch files set IMU options such as output rate, filter, quaternion output and 32-bit output, and can enable time correction via a 1PPS signal.
Built with colcon; the interface type and platform (Raspberry Pi or PC) are chosen in CMakeLists.txt.
Covers tuning for USB-UART latency timers and SPI clock rate to improve timestamp accuracy and data rates.

Written by Robotheca from the project's README (opens in a new tab) at commit 6f3d1d5.

Difficulty: Intermediate
Hardware it needs, as the project states it: Epson IMU (G320, G354, G364, G365, G366, G370, G330, G355 or G570 models) with an Epson USB evaluation board or FTDI USB-serial interface for UART, or a 3.3V SPI breakout with three GPIOs for SPI; ROS 2 Foxy, Humble or Jazzy on Ubuntu 20.04, 22.04 or 24.04, tested on a Core i7 PC, Raspberry Pi 3B+ a
How to start: The project's README (opens in a new tab)

Checked on GitHub on 22 Oct 2026.

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.