myahrs_driver package from myahrs_driver repomyahrs_driver |
|
Package Summary
Tags | No category tags. |
Version | 0.1.2 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/robotpilot/myahrs_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2018-11-26 |
Dev Status | MAINTAINED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Yoonseok Pyo
Authors
- Yoonseok Pyo
myahrs_driver
Overview
This is a driver package for the WITHROBOT’s myAHRS+ from http://www.lilliputdirect.com/odroid-myahrs | lilliputdirect and http://www.hardkernel.com/main/products/prdt_info.php?g_code=G141464363369 . The myAHRS+ is a low cost high performance AHRS(Attitude Heading Reference System) with USB/UART/I2C interface. The myAHRS+ board contains a 3-axis 16-bit gyroscope, a 3-axis 16-bit accelerometer and a 3-axis 13-bit magnetometer. The driver should also work with USB port. |
Axes Convention
The myAHRS+ board used NED type. The myahrs_driver contained in this package converts to the frame conventions of ROS (use the east north up (ENU) convention and right hand rule) before publishing the msgs. The driver use the coordinate frame below. Please see http://www.ros.org/reps/rep-0103.html#axis-orientation for more information.
- x forward
- y left
-
z up
- NED type IMU: x-north, y-east, z-down, relative to magnetic north.
- ENU type IMU: x-east, y-north, z-up, relative to magnetic north.
Original Source
The original source (not support ROS) is maintained github below and tutorials are on the corresponding wiki page. A 3D visualization test like 3D-box is included in this original source. This package used the myAHRS+ SDK below.
https://github.com/withrobot/myAHRS_plus
Video
This is a visualization demonstration using RViz.
Installation
Install the package:
sudo apt-get install ros-indigo-myahrs-driver
Install the package from the github:
cd ~/catkin_ws/src
git clone https://github.com/robotpilot/myahrs_driver.git
cd ~/catkin_ws && catkin_make
Run
Run the driver like so:
rosrun myahrs_driver myahrs_driver _port:=/dev/ttyACM0
or
roslaunch myahrs_driver myahrs_driver.launch
Nodes
Official ROS documentation can be found on the ROS wiki at:
http://wiki.ros.org/myahrs_driver
Communication Protocol Manual and Forum
The myAHRS+ protocol can be found here(https://github.com/withrobot/myAHRS_plus/tree/master/tutorial). The Forum for myAHRS+ user can be found here(http://forum.odroid.com/viewforum.php?f=109).
References
References for myAHRS+ board
- http://www.withrobot.com/myahrs_plus_en/
- http://www.withrobot.com/?wpdmact=process&did=MTE4LmhvdGxpbms=
-
https://github.com/robotpilot/myAHRS_plus
- http://www.hardkernel.com/main/products/prdt_info.php?g_code=G141464363369
- http://www.lilliputdirect.com/odroid-myahrs
References for convention of axes and unit
- http://www.ros.org/reps/rep-0003.html
- http://www.ros.org/reps/rep-0103.html
- https://github.com/paulbovbel/rep/blob/master/rep-0145.rst
References for similar IMU packages
- http://wiki.ros.org/um6
- http://wiki.ros.org/razor_imu_9dof
-
https://github.com/KristofRobot/razor_imu_9dof
- http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html
Changelog for package myahrs_driver
0.1.2 (2018-08-28) -----------* fixed: make "parent_frame_id_" as true parent frame_id in /tf topic and "parent_frame_id_" as child(for now, "base_link" is parent of "imu_link" as default). * Contributors: Akio Shigekane, Pyo
0.1.1 (2015-02-21)
- first public release for indigo
- Contributors: Pyo
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
roscpp | |
std_msgs | |
sensor_msgs | |
tf | |
catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged myahrs_driver at Robotics Stack Exchange
myahrs_driver package from myahrs_driver repomyahrs_driver |
|
Package Summary
Tags | No category tags. |
Version | 0.1.2 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/robotpilot/myahrs_driver.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2017-08-28 |
Dev Status | MAINTAINED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Yoonseok Pyo
Authors
- Yoonseok Pyo
myahrs_driver
Overview
This is a driver package for the WITHROBOT’s myAHRS+ from http://www.lilliputdirect.com/odroid-myahrs | lilliputdirect and http://www.hardkernel.com/main/products/prdt_info.php?g_code=G141464363369 . The myAHRS+ is a low cost high performance AHRS(Attitude Heading Reference System) with USB/UART/I2C interface. The myAHRS+ board contains a 3-axis 16-bit gyroscope, a 3-axis 16-bit accelerometer and a 3-axis 13-bit magnetometer. The driver should also work with USB port. |
Axes Convention
The myAHRS+ board used NED type. The myahrs_driver contained in this package converts to the frame conventions of ROS (use the east north up (ENU) convention and right hand rule) before publishing the msgs. The driver use the coordinate frame below. Please see http://www.ros.org/reps/rep-0103.html#axis-orientation for more information.
- x forward
- y left
-
z up
- NED type IMU: x-north, y-east, z-down, relative to magnetic north.
- ENU type IMU: x-east, y-north, z-up, relative to magnetic north.
Original Source
The original source (not support ROS) is maintained github below and tutorials are on the corresponding wiki page. A 3D visualization test like 3D-box is included in this original source. This package used the myAHRS+ SDK below.
https://github.com/withrobot/myAHRS_plus
Video
This is a visualization demonstration using RViz.
Installation
Install the package:
sudo apt-get install ros-indigo-myahrs-driver
Install the package from the github:
cd ~/catkin_ws/src
git clone https://github.com/robotpilot/myahrs_driver.git
cd ~/catkin_ws && catkin_make
Run
Run the driver like so:
rosrun myahrs_driver myahrs_driver _port:=/dev/ttyACM0
or
roslaunch myahrs_driver myahrs_driver.launch
Nodes
Official ROS documentation can be found on the ROS wiki at:
http://wiki.ros.org/myahrs_driver
Communication Protocol Manual and Forum
The myAHRS+ protocol can be found here(https://github.com/withrobot/myAHRS_plus/tree/master/tutorial). The Forum for myAHRS+ user can be found here(http://forum.odroid.com/viewforum.php?f=109).
References
References for myAHRS+ board
- http://www.withrobot.com/myahrs_plus_en/
- http://www.withrobot.com/?wpdmact=process&did=MTE4LmhvdGxpbms=
-
https://github.com/robotpilot/myAHRS_plus
- http://www.hardkernel.com/main/products/prdt_info.php?g_code=G141464363369
- http://www.lilliputdirect.com/odroid-myahrs
References for convention of axes and unit
- http://www.ros.org/reps/rep-0003.html
- http://www.ros.org/reps/rep-0103.html
- https://github.com/paulbovbel/rep/blob/master/rep-0145.rst
References for similar IMU packages
- http://wiki.ros.org/um6
- http://wiki.ros.org/razor_imu_9dof
-
https://github.com/KristofRobot/razor_imu_9dof
- http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html
Changelog for package myahrs_driver
0.1.2 (2018-08-28) -----------* fixed: make "parent_frame_id_" as true parent frame_id in /tf topic and "parent_frame_id_" as child(for now, "base_link" is parent of "imu_link" as default). * Contributors: Akio Shigekane, Pyo
0.1.1 (2015-02-21)
- first public release for indigo
- Contributors: Pyo
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
roscpp | |
std_msgs | |
sensor_msgs | |
tf | |
catkin |