test_gyro.py

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#!/usr/bin/env python

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# Continuously print angle and angular velocity from Imu messages


import roslib; roslib.load_manifest('kobuki_testsuite')
import rospy
import sys

from tf.transformations import euler_from_quaternion
from math import degrees

from sensor_msgs.msg import Imu
from geometry_msgs.msg import Quaternion


def ImuCallback(data):
  quat = data.orientation
  q = [quat.x, quat.y, quat.z, quat.w]
  roll, pitch, yaw = euler_from_quaternion(q)
  sys.stdout.write("\r\033[1mGyro Angle\033[0m: [" + "{0:+.4f}".format(yaw) + " rad]  ["\
                 + "{0: >+7.2f}".format(degrees(yaw)) + " deg]"\
                 + "            \033[1mRate\033[0m: [" + "{0:+.4f}".format(data.angular_velocity.z) + " rad/s]  ["\
                 + "{0: >+7.2f}".format(degrees(data.angular_velocity.z)) + " deg/s] ")
  # http://docs.python.org/library/string.html#formatexamples
  sys.stdout.flush()

rospy.init_node("test_gyro")
rospy.Subscriber("/mobile_base/sensors/imu_data", Imu, ImuCallback)
rospy.spin()
print '' # for clean output