IM1R_ROS2_Driver

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Table of Contents

• IM1R_ROS_Driver
  • Table of Contents
  • Project Description
  • Getting Started
    • System Requirements
    • Installation Setups
  • Usage Instructions
  • Published Topics
  • Parameters Introductions
    • Standard Topic
      • imu/data
      • temperature
    • Custom Topic
      • im1r/extra
  • Contributing
  • License

Project Description

This project aims to develop and maintain ROS2 drivers for the IM1R product.

Getting Started

System Requirements

• Ubuntu 22.04 / ROS2 Humble
• Ubuntu 20.04 / ROS2 Foxy

Installation Setups

1. Install ROS2: Please refer to the ROS2 Documentation for detailed instructions.

2. Install Dependencies:

   Run the following commands to install dependencies based on your system's Python version:

    ```shell
    sudo apt update
    sudo apt install python3-pip
    pip3 install pyserial
    ```
   

3. Create ROS2 workspace:

   mkdir -p ~/ros2_ws/src

4. Clone the project repository to the src directory of your catkin workspace:

   cd ~/ros2_ws/src
   git clone https://github.com/DAISCHSensor/im1r_ros2_driver.git
   git clone https://github.com/DAISCHSensor/im1r_ros2_interface.git

5. Install ROS dependencies：

   cd ~/ros2_ws
   rosdep install --from-paths src --ignore-src -r -y

6. Build the driver:

   cd ~/ros2_ws/
   colcon build

7. Update the .bashrc file:

   ⚠️ Note: If you've already added these lines to your .bashrc, do not add them again to avoid duplicates.

   For ROS 2 Foxy

   echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
   echo "source ~/ros2_ws/install/setup.bash" >> ~/.bashrc
   source ~/.bashrc

   For ROS 2 Humble

   echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
   echo "source ~/ros2_ws/install/setup.bash" >> ~/.bashrc
   source ~/.bashrc

Usage Instructions

1. Connect IM1R via UART1 data cable.

2. Identify the serial port for the IM1R device:

   sudo dmesg | grep tty

   Assuming the IM1R device is connected to /dev/ttyUSB0:

   sudo chmod 666 /dev/ttyUSB0

3. Confirm the baud rate of the IM1R device. The default baud rate is 115200, which can be modified via the host computer software DS_RVision.

4. Launch the driver node:

   • Assume the serial port connected to the IM1R is /dev/ttyUSB0
   • Assume the baud rate used by the IM1R is 115200

   ros2 run im1r_ros2_driver im1r_node --ros-args -p serial_port:=/dev/ttyUSB0 -p baud_rate:=115200

5. List all the topic:

   ros2 topic list

6. echo the specific topic:

   ros2 topic echo /imu/data

Published Topics

• imu/data (sensor_msgs/Imu) quaternion, angular velocity and linear acceleration
• temperature (sensor_msgs/Temperature) temperature from device
• im1r/extra (DAISCH Custom Topic) extra params from IM1R

Parameters Introductions

Standard Topic

imu/data

Variable	Supported
time header.stamp	✔️
string header.frame_id	✔️
float64 orientation.x	✔️
float64 orientation.y	✔️
float64 orientation.z	✔️
float64 orientation.w	✔️
float64[9] orientation_covariance	✘
float64 angular_velocity.x	✔️
float64 angular_velocity.y	✔️
float64 angular_velocity.z	✔️
float64[9] angular_velocity_covariance	✘
float64 linear_acceleration.x	✔️
float64 linear_acceleration.y	✔️
float64 linear_acceleration.z	✔️
float64[9] linear_acceleration_covariance	✘

temperature

Variable	Supported
time header.stamp	✔️
string header.frame_id	✔️
float64 temperature	✔️
float64 variance	✘

Custom Topic

im1r/extra

Variable	Type	Definition	Unit	Remarks
count	uint8	Message counter	-	0~255 cyclic increment
timestamp	uint64	Timestamp of the measurement	microseconds (µs)	UNIX time
pitch	float64	Pitch angle	degrees (°)
roll	float64	Roll angle	degrees (°)
yaw	float64	Yaw angle	degrees (°)
imu_status	uint8	IMU status indicator	-	Bit 0: Acceleration valid (0) / invalid (1) Bit 2: Angular velocity valid (0) / invalid (1) Higher bits are not defined
gyro_bias_x	float64	Gyroscope bias along the X axis	radians/second (rad/s)
gyro_bias_y	float64	Gyroscope bias along the Y axis	radians/second (rad/s)
gyro_bias_z	float64	Gyroscope bias along the Z axis	radians/second (rad/s)
gyro_static_bias_x	float64	Static gyroscope bias along the X axis	radians/second (rad/s)
gyro_static_bias_y	float64	Static gyroscope bias along the Y axis	radians/second (rad/s)
gyro_static_bias_z	float64	Static gyroscope bias along the Z axis	radians/second (rad/s)

Contributing

License

BSD-3-Clause