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olive® OLV-IMU01-13D

Sensor Details

The OLV-IMU01-13D is a IMU sensor designed for use in robotics and other applications that require precise attitude and heading information. It uses a redundant 15 degree-of-freedom (DOF) sensor array, which provides accurate and stable measurements of orientation and angular velocity with a 3-axis gyroscope, 3-axis accelerometer, and 3-axis magnetometer. It furthermore provides air pressure, temperature, humidity and gas detection measurements.


  • 3-axis gyroscope: The IMU module features a 3-axis gyroscope that provides accurate and reliable angular rate data in all three dimensions (x, y, z). This allows you to measure the orientation of the IMU module with respect to a fixed reference frame, and to track the changes in orientation over time.

  • 3-axis accelerometer: The IMU module also features a 3-axis accelerometer that provides accurate and reliable acceleration data in all three dimensions (x, y, z). This allows you to measure the linear acceleration of the IMU module with respect to a fixed reference frame, and to track the changes in linear acceleration over time.

  • 3-axis magnetometer: The IMU module also features a 3-axis magnetometer that provides accurate and reliable magnetic field data in all three dimensions (x, y, z). This allows you to measure the magnetic field of the IMU module with respect to a fixed reference frame, and to track the changes in magnetic field over time.

  • 4-measurements environmental sensor: The barometer is an instrument used to measure atmospheric pressure, the presencewhich is the force exerted by the weight of the atmosphere on a given surface.

Key Features

  • 9-degree-of-freedom orientation and acceleration measurements
  • 4-measurement environmental sensing
  • Maximum data rate of 1000 Hz
  • Attitude and heading reference system (AHRS)
  • Compact and lightweight design
  • USB Type-C and Ethernet over USB communication options
  • Out-of-the-box ROS1 & ROS2 support

Technical Specifications

Part NumberOLV-IMU01-13D
Connection InterfaceUSB Type-C
Communication ProtocolROS 1&2 (Virtual Ethernet / IPV4)
Gyroscope range+/- 2000 deg/sec
Accelerometer range+/- 16 g
Magnetometer range+/- 4 gauss
Sample rate1000 Hz
CommunicationUSB Type C - Ethernet Over USB
Performance MetricsCovariance Matrix
Gyroscope accuracy+/- 0.05 deg/sec
Accelerometer accuracy+/- 0.1 g
Magnetometer accuracy+/- 0.2 gauss
Weight62 grams
Dimensions WxHxD40x40x30 mm
Native ROS Messagessensor_msgs/Imu, sensor_msgs/Temperature
Operating Temperature0 ~ 55 °C

Setup and Test:

  1. Follow the Quick Start Guide for Olive Robotics robot modules to connect the device and start using it.

  2. For more information about the IMU setup and user interface, refer to the demonstration below:

  1. When the IMU module is correctly connected to your system, you can check that the expected ros topics are present. On your host PC run:

    ros2 topic list
    ros2 topic list

    The following ROS topics showed be shown:



The number 1681709875 is your device's serial number and will be displayed in accordance with your device.

  1. All topics shown are publishers, meaning that they publish data to the ROS network. In the command line interface you can verify that they are in fact publishing data using for example:

    ros2 topic echo /olive/one/imu
    ros2 topic echo /olive/one/imu
  2. Visualize the data using:

    1. Embedded Web Interface (

    2. rqt (

    3. rviz2 (

  3. Visualize the data and change the parameters like IP, Topic Name, etc using the embedded web interface. You just need to open your browser on your host computer and enter the IP address of the device. If you didn't change the default IP address, then it must be

ROS Topics and Services

Topic NameMessage TypeTypeDescription
.../imusensor_msgs/ImuPublisherMessured acc/gyro/quaternion
.../magnetometersensor_msgs/MagneticFieldPublisherMessured magnetic field
.../statusdiagnostic_msgs/DiagnosticStatusPublisherDevice status
PublisherDevice micro-switch status
.../ledstd_msgs/BoolSubscriberUser defined LED

Advanced Settings

The device allows certain parameters to be changed at runtime. To get an overview of all changeable parameters use ros2 param list. To change a parameter use ros2 param set /dcm_imu <parameter> <new_value>


ParameterTypeRange MinRange MaxDefaultDescription
filter_frequencyint01200100IMU filter frequency
filter_gainint010.2IMU filter gain
frequency_imuint01200100IMU publish rate
frequency_magint0100100Magnetometer publish rate


ParameterTypeRange MinRange MaxDefaultDescription
frequencyint01010System status publish rate

RQT Topics and Plot

To change the parameters of the redundant sensor use rqt and the topic monitor:


To plot the imu data of the redundant sensor use rqt and the rqt plot:



3D Models
CAD Drawings