openzen_sensor package from openzen_sensor repo

openzen_sensor

Package Summary

Tags No category tags.
Version 1.2.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/lpresearch/openzenros.git
VCS Type git
VCS Version master
Last Updated 2021-01-20
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS driver for LP-Research inertial measurement units and satellite navigation senors

Additional Links

No additional links.

Maintainers

  • Thomas Hauth
  • Feng
  • H.E. YAP

Authors

No additional authors.

OpenZen Node for ROS

This software allows to forward sensor data from sensor connected via OpenZen to ROS.

OpenZen is a library for high performance sensor data streaming and processing and supports multiple sensor models: https://bitbucket.org/lpresearch/openzen/

The full documentation for OpenZen ROS can be found here: OpenZen ROS documentation.

Requirements

Tools & Compiler

To compile this software, at least G++ version 7.0 and cmake version 3.10 need to be installed. If your default compiler is an older version you can install a recent GCC with your distributions package manager and provide the name of the GCC to the catkin_make command like so:

catkin_make -DCMAKE_C_COMPILER=gcc-7 -DCMAKE_CXX_COMPILER=g++-7

Serial Port Access Rights

After this call, you should logout and login with this user to ensure the changed permissions are in effect.

To allow access to sensors connected via USB, you need to ensure that the user running the ROS sensor node has access to the /dev/ttyUSB devices. You can do this by adding the user to the dialout group.

sudo adduser <username> dialout

Installing via the Package Manager

The OpenZen ROS driver is part of the official ROS distribution and you can conveniently install it via the package manager of your Linux distribution. Please check this website to see if the OpenZen ROS driver is available for the ROS distribution you use:

OpenZen ROS Package

For example, on Ubuntu 18.04 and with ROS distribution Melodic Morenia, the OpenZen ROS driver can be installed with this command:

apt install ros-melodic-openzen-sensor

Compilation

To compile this driver in your ROS setup, follow these steps:

mkdir -p catskin_ws/src
cd catskin_ws/src

git clone --recurse-submodules https://bitbucket.org/lpresearch/openzenros.git

# get your ROS environment going
source /opt/ros/melodic/setup.bash
cd ..
catkin_make
source ./devel/setup.bash

Running the Driver

Open another terminal window and run the ROS core:

source /opt/ros/melodic/setup.bash
roscore

You can then run the OpenZen ROS driver with this command in the window you used to compile the software:

rosrun openzen_sensor openzen_sensor_node

By default, it will connect to the first available sensor. If you want to connect to a specific sensor, you can use the serial name of the sensor as parameter, for example:

rosrun openzen_sensor openzen_sensor_node _sensor_name:="LPMSCU2000573"

If your sensor is configured for a different baud rate, you can use the baudrate parameter to give a specfic baud rate setting:

rosrun openzen_sensor openzen_sensor_node _sensor_name:="LPMSCU2000573" _baudrate:=115200

Now you can print the IMU values from ROS with:

rostopic echo /imu/data

To output the values of a GPS unit (if available) use this command:

rostopic echo /imu/nav

Or plot some values (for example linear acceleration) with

rosrun rqt_plot rqt_plot /imu/data/linear_acceleration

If you want to readout the values of two OpenZen sensors simultanously, you need to rename the topics and the node names likes this:

rosrun openzen_sensor openzen_sensor __name:="cu2node" _sensor_name:="LPMSCU2000573" imu:=/cu2_imu 
rosrun openzen_sensor openzen_sensor __name:="ig1_node" _sensor_name:="LPMSIG1000032" imu:=/ig1_imu

Alternatively, we have prepared a sample launch file openzen_lpms_ig1.launch to demonstrate data acquisition and plotting using openzen_sensor_node:

roslaunch openzen_sensor openzen_lpms_ig1.launch

CHANGELOG

Changelog for package openzen_driver

1.2.0 (2020-11-17)

  • fixed conditions check for build or download OpenZen options
  • fixed name of primary maintainer
  • added install target for openzen_node
  • manually setting component ID in case a TestSensor is used
  • running rostest as part of the catkin CMake file
  • switched binary downloads to OpenZen 1.2.0
  • updated OpenZen to version 1.2.0
  • added output of GNSS measurement as ROS NavSatFix message
  • Contributors: LP-Research Inc. Team

1.0.1 (2020-09-03)

  • changed OpenZen version to release 1.1.3
  • added option to select binary download and disabled binary downloads by default
  • updated to OpenZen 1.1.2 for ARM64
  • updated OpenZen version to support LPMS-BE1
  • added support for ARM64 binary
  • checking if environment is modern enough to build OpenZen, otherwise download binary release
  • added licenses of OpenZen and its dependencies
  • added License header to source files
  • added License file
  • Contributors: LP-Research Inc. Team

1.0.0 (2020-04-13)

  • Initial Release of OpenZen ROS driver
  • Contributors: LP-Research Inc. Team

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged openzen_sensor at answers.ros.org

openzen_sensor package from openzen_sensor repo

openzen_sensor

Package Summary

Tags No category tags.
Version 1.2.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/lpresearch/openzenros.git
VCS Type git
VCS Version master
Last Updated 2021-01-20
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS driver for LP-Research inertial measurement units and satellite navigation senors

Additional Links

No additional links.

Maintainers

  • Thomas Hauth
  • Feng
  • H.E. YAP

Authors

No additional authors.

OpenZen Node for ROS

This software allows to forward sensor data from sensor connected via OpenZen to ROS.

OpenZen is a library for high performance sensor data streaming and processing and supports multiple sensor models: https://bitbucket.org/lpresearch/openzen/

The full documentation for OpenZen ROS can be found here: OpenZen ROS documentation.

Requirements

Tools & Compiler

To compile this software, at least G++ version 7.0 and cmake version 3.10 need to be installed. If your default compiler is an older version you can install a recent GCC with your distributions package manager and provide the name of the GCC to the catkin_make command like so:

catkin_make -DCMAKE_C_COMPILER=gcc-7 -DCMAKE_CXX_COMPILER=g++-7

Serial Port Access Rights

After this call, you should logout and login with this user to ensure the changed permissions are in effect.

To allow access to sensors connected via USB, you need to ensure that the user running the ROS sensor node has access to the /dev/ttyUSB devices. You can do this by adding the user to the dialout group.

sudo adduser <username> dialout

Installing via the Package Manager

The OpenZen ROS driver is part of the official ROS distribution and you can conveniently install it via the package manager of your Linux distribution. Please check this website to see if the OpenZen ROS driver is available for the ROS distribution you use:

OpenZen ROS Package

For example, on Ubuntu 18.04 and with ROS distribution Melodic Morenia, the OpenZen ROS driver can be installed with this command:

apt install ros-melodic-openzen-sensor

Compilation

To compile this driver in your ROS setup, follow these steps:

mkdir -p catskin_ws/src
cd catskin_ws/src

git clone --recurse-submodules https://bitbucket.org/lpresearch/openzenros.git

# get your ROS environment going
source /opt/ros/melodic/setup.bash
cd ..
catkin_make
source ./devel/setup.bash

Running the Driver

Open another terminal window and run the ROS core:

source /opt/ros/melodic/setup.bash
roscore

You can then run the OpenZen ROS driver with this command in the window you used to compile the software:

rosrun openzen_sensor openzen_sensor_node

By default, it will connect to the first available sensor. If you want to connect to a specific sensor, you can use the serial name of the sensor as parameter, for example:

rosrun openzen_sensor openzen_sensor_node _sensor_name:="LPMSCU2000573"

If your sensor is configured for a different baud rate, you can use the baudrate parameter to give a specfic baud rate setting:

rosrun openzen_sensor openzen_sensor_node _sensor_name:="LPMSCU2000573" _baudrate:=115200

Now you can print the IMU values from ROS with:

rostopic echo /imu/data

To output the values of a GPS unit (if available) use this command:

rostopic echo /imu/nav

Or plot some values (for example linear acceleration) with

rosrun rqt_plot rqt_plot /imu/data/linear_acceleration

If you want to readout the values of two OpenZen sensors simultanously, you need to rename the topics and the node names likes this:

rosrun openzen_sensor openzen_sensor __name:="cu2node" _sensor_name:="LPMSCU2000573" imu:=/cu2_imu 
rosrun openzen_sensor openzen_sensor __name:="ig1_node" _sensor_name:="LPMSIG1000032" imu:=/ig1_imu

Alternatively, we have prepared a sample launch file openzen_lpms_ig1.launch to demonstrate data acquisition and plotting using openzen_sensor_node:

roslaunch openzen_sensor openzen_lpms_ig1.launch

CHANGELOG

Changelog for package openzen_driver

1.2.0 (2020-11-17)

  • fixed conditions check for build or download OpenZen options
  • fixed name of primary maintainer
  • added install target for openzen_node
  • manually setting component ID in case a TestSensor is used
  • running rostest as part of the catkin CMake file
  • switched binary downloads to OpenZen 1.2.0
  • updated OpenZen to version 1.2.0
  • added output of GNSS measurement as ROS NavSatFix message
  • Contributors: LP-Research Inc. Team

1.0.1 (2020-09-03)

  • changed OpenZen version to release 1.1.3
  • added option to select binary download and disabled binary downloads by default
  • updated to OpenZen 1.1.2 for ARM64
  • updated OpenZen version to support LPMS-BE1
  • added support for ARM64 binary
  • checking if environment is modern enough to build OpenZen, otherwise download binary release
  • added licenses of OpenZen and its dependencies
  • added License header to source files
  • added License file
  • Contributors: LP-Research Inc. Team

1.0.0 (2020-04-13)

  • Initial Release of OpenZen ROS driver
  • Contributors: LP-Research Inc. Team

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged openzen_sensor at answers.ros.org