Phidgets accelerometer ROS 2 driver

This is the ROS 2 driver for Phidgets accelerometers.

Usage

To run this driver standalone, do the following:

ros2 launch phidgets_accelerometer accelerometer-launch.py

Published Topics

• /imu/data_raw (sensor_msgs/Imu) - The raw accelerometer data.

Parameters

• serial (int) - The serial number of the phidgets accelerometer to connect to. If -1 (the default), connects to any accelerometer phidget that can be found.
• hub_port (int) - The phidgets VINT hub port to connect to. Only used if the accelerometer phidget is connected to a VINT hub. Defaults to 0.
• frame_id (string) - The header frame ID to use when publishing the message. Defaults to REP-0145 compliant imu_link.
• linear_acceleration_stdev (double) - The standard deviation to use for the linear acceleration when publishing the message. Defaults to 300 ug.
• time_resynchronization_interval_ms (int) - The number of milliseconds to wait between resynchronizing the time on the Phidgets spatial with the local time. Larger values have less “jumps”, but will have more timestamp drift. Setting this to 0 disables resynchronization. Defaults to 5000 ms.
• data_interval_ms (int) - The number of milliseconds between acquisitions of data on the device (allowed values are dependent on the device). Defaults to 8 ms.
• callback_delta_epsilon_ms (int) - The number of milliseconds epsilon allowed between callbacks when attempting to resynchronize the time. If this is set to 1, then a difference of data_interval_ms plus or minus 1 millisecond will be considered viable for resynchronization. Higher values give the code more leeway to resynchronize, at the cost of potentially getting bad resynchronizations sometimes. Lower values can give better results, but can also result in never resynchronizing. Must be less than data_interval_ms. Defaults to 1 ms.
• publish_rate (double) - How often the driver will publish data on the ROS topic. If 0 (the default), it will publish every time there is an update from the device (so at the data_interval_ms). If positive, it will publish the data at that rate regardless of the acquisition interval.

Changelog for package phidgets_accelerometer

2.4.0 (2025-05-30)

• Merge pull request #191 from mintar/remove-ament-target-dependencies [kilted] Update deprecated call to ament_target_dependencies
• Update to C++ standard 17
• [kilted] Update deprecated call to ament_target_dependencies
• Contributors: Martin Günther

2.3.4 (2025-05-19)

• Upgrade to CMake 3.8, add file depend (#189)
• Contributors: Martin Günther

2.3.3 (2024-03-13)

• Add support for VINT networkhub (#172) This is a port of #127 to ROS2. Closes #135.
• Contributors: Martin Günther

2.3.2 (2023-11-27)

2.3.1 (2023-03-03)

2.3.0 (2022-04-13)

2.2.2 (2022-02-17)

2.2.1 (2021-08-03)

• Update the ROS 2 readme files. (#93)
• Contributors: Chris Lalancette

2.2.0 (2021-05-20)

2.1.0 (2021-03-29)

• Don't publish messages that jumped back in time. (#86)
• Log synchronization window details at DEBUG level (#84)
• Get rid of deprecation warnings in Foxy. (#75)
• Switch header guards to _HPP SUFFIX.
• Contributors: Chris Lalancette, Martin Günther, Michael Grupp

2.0.2 (2020-06-01)

2.0.1 (2019-12-05)

• Switch the buildtoo_depend to ament_cmake_ros. (#65)
• Contributors: Chris Lalancette

2.0.0 (2019-12-05)

• Switch from NULL to nullptr.
• Make sure to initialize class member variables.
• Update READMEs to use "Published Topics" and "Subscribed Topics". (#59)
• Change launch output to "both" so it logs as well.
• Make publish_rate a double.
• Print out the serial number when connecting.
• Update documentation to mention device dependent fields.
• Port accelerometer to ROS 2.
• Ignore all packages for ROS 2 port.
• Fix wrong defaults for standard deviations (#48)
• Update maintainers in package.xml
• Merge pull request #39 from clalancette/add-libphidget22
• Resynchronize the times at periodic intervals.
• Add launch files for all drivers.
• Add in try/catch blocks for connecting.
• Fixes from review.
• Documentation updates to README.md
• Set the publish_rate to 0 by default.
• Add in the license files and add to the headers.
• Remove nodes in favor of nodelets.
• Add support for Phidgets Accelerometer sensors.
• Contributors: Chris Lalancette, Martin Günther

0.7.9 (2019-06-28)

0.7.8 (2019-05-06)

0.7.7 (2018-09-18)

0.7.6 (2018-08-09)

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