ros2_wheeltec_n100_imu
ROS2 driver pkg for WHEELTEC N100 IMU module.
topics:
- /imu
- /imu_trueEast
- /magnetic_field
- /magnetic_pose_2d
install
mkdir -p /ros2_ws/src
cd /ros2_ws/src
git clone https://github.com/RoverRobotics-forks/serial-ros2.git #install ros2_serial
git clone https://github.com/NDHANA94/ros2_wheeltec_n100_imu.git
cd ~/ros2_ws
colcon build
source install/setup.bash
run
-
defaut run: default serial port:
/dev/ttyACM0default serial baudrate:921600ros2 run wheeltec_n100_imu imu_node -
run with custom params:
ros2 run wheeltec_n100_imu imu_node --ros-args -p serial_port:="/dev/ttyACM0" -p serial_baud:=921600
| parameter | data type | default value |
|---|---|---|
| debug | bool | false |
| serial_port | string | "/dev/ttyACM0" |
| serial_baud | int | 921600 |
| serial_timeout | int | 20 |
| device_type | int | 1 |
| frist_sn | bool | false |
| imu_topic | string | "imu" |
| imu_frame imu | string | "imu" |
| mag_pose_2d_topic | string | "magnetic_pose_2d" |
| imu_trueEast_topic | string | "imu_trueEast" |
| mag_topic | string | "magnetic_field" |
| yaw_offset | double | -2.094 |
| mag_offset_x | double | 0.0 |
| mag_offset_y | double | 0.0 |
| mag_offset_z | double | 0.0 |
| imu_mag_covVec | vector |
{0.01, 0.01, 0.01} |
| imu_gyro_covVec | vector |
{0.01, 0.01, 0.01} |
| imu_accel_covVec | vector |
{0.05, 0.05, 0.05} |
The code is based on ROS1 fdilink imu driver