oriens is (an other) ROS2 package which provides IMU and MARG fitlers for orientation estimation. Created for fun and learning, it provides some ready-to-use common filters.

Current implmented filters are:

• Madgwick filter (IMU, MARG)
• Complementary filter (IMU, MARG)

For IMU versions, a no-motion-no-integration simple method is provided to avoid gyroscope drift when estimating yaw angle.

Scripts to build an image and run a container image are provided in the dedicated folder.

The word "oriens" comes from Latin and "indicates the east, the cardinal point where the sun rises".