🎯 Objective

Integrate the Movella IMU sensor with our ROS2 navigation stack to provide reliable orientation, acceleration, and angular velocity data for state estimation and motion control.

✅ Acceptance Criteria

• Movella IMU ROS2 package compiles successfully with colcon build
• Able to rostopic echo /imu/data and see valid IMU data (orientation, linear acceleration, angular velocity)
• IMU data is properly transformed to robot's base_link frame (auv)
• Covariance matrix is properly populated in IMU messages (take the same covariances as in AUV-2025, those values are calculated using movella's documentation)
• Udev rules created that assign a consistent symlink (e.g., /dev/movella_imu) regardless of which USB port is used

🛠️ Implementation

Approach:

1. Create udev rules for the IMU and then reload the udev rules (if you do ls /dev/movella_imu, there should be a device)

• sudo cp [path to your rule] /etc/udev/rules.d/
• sudo udevadm control --reload-rules && sudo service udev restart && sudo udevadm trigger
• see this for more info about udev rules

3. Take a look at the official Xsens driver
4. Make sure all dependencies (such as nvea-msgs) are in our Dockerfile. If not, add and rebuild (have fun, bring snacks, it might take time)
5. Follow all the steps in the README.md and make sure you can echo data

🔗 Links

Blocks: Movella republisher REP 103/105, State estimation
Blocked by: #1