Phidgets spatial ROS 2 driver

This is the ROS 2 driver for Phidgets spatial.

Usage

To run this driver standalone, do the following:

ros2 launch phidgets_spatial spatial-launch.py

Published Topics

• /imu/data_raw (sensor_msgs/Imu) - The raw accelerometer and gyroscope data.
• imu/is_calibrated (std_msgs/Bool) - Whether the gyroscope has been calibrated; this will be done automatically at startup time, but can also be re-done at any time by calling the imu/calibrate service.
• /imu/mag (sensor_msgs/MagneticField) - The raw magnetometer data.

Services

• imu/calibrate (std_srvs/Empty) - Run calibration on the gyroscope.

Parameters

• serial (int) - The serial number of the phidgets spatial to connect to. If -1 (the default), connects to any spatial phidget that can be found.
• hub_port (int) - The phidgets VINT hub port to connect to. Only used if the spatial 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.
• use_orientation (bool) - Use the phidget spatials onboard orientation estimation; Just available on MOT0109 onwards. Set to false for older versions. Defaults to false.
• spatial_algorithm (string) - Name of the spatial algorithm used for orientation estimation (one of “none”, “ahrs”, “imu”); Just used if use_orientation is set to true. Defaults to ahrs.
• ahrs_angular_velocity_threshold (double) - Parameter for AHRS orientation estimation; Just used if use_orientation is set to true.
• ahrs_angular_velocity_delta_threshold (double) - Parameter for AHRS orientation estimation; Just used if use_orientation is set to true.
• ahrs_acceleration_threshold (double) - Parameter for AHRS orientation estimation; Just used if use_orientation is set to true.
• ahrs_mag_time (double) - Parameter for AHRS orientation estimation; Just used if use_orientation is set to true.
• ahrs_accel_time (double) - Parameter for AHRS orientation estimation; Just used if use_orientation is set to true.
• ahrs_bias_time (double) - Parameter for AHRS orientation estimation; Just used if use_orientation is set to true.
• algorithm_magnetometer_gain (double) - Gain of magnetometer in orientation estimation algorithm; Just used if use_orientation is set to true. Defaults to 0.005
• heating_enabled (bool) - Use the internal heating element; Just available on MOT0109 onwards. Do not set this parameter for older versions.
• linear_acceleration_stdev (double) - The standard deviation to use for the linear acceleration when publishing the message. Defaults to 280 ug.
• angular_velocity_stdev (double) - The standard deviation to use for the angular velocity when publishing the message. Defaults to 0.095 deg/s.
• magnetic_field_stdev (double) - The standard deviation to use for the magnetic field when publishing the message. Defaults to 1.1 milligauss.
• 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.
• cc_mag_field (double) - Ambient magnetic field calibration value; see device’s user guide for information on how to calibrate.
• cc_offset0 (double) - Calibration offset value 0; see device’s user guide for information on how to calibrate.
• cc_offset1 (double) - Calibration offset value 1; see device’s user guide for information on how to calibrate.
• cc_offset2 (double) - Calibration offset value 2; see device’s user guide for information on how to calibrate.
• cc_gain0 (double) - Gain offset value 0; see device’s user guide for information on how to calibrate.
• cc_gain1 (double) - Gain offset value 1; see device’s user guide for information on how to calibrate.
• cc_gain2 (double) - Gain offset value 2; see device’s user guide for information on how to calibrate.
• cc_t0 (double) - T offset value 0; see device’s user guide for information on how to calibrate.
• cc_t1 (double) - T offset value 1; see device’s user guide for information on how to calibrate.
• cc_t2 (double) - T offset value 2; see device’s user guide for information on how to calibrate.
• cc_t3 (double) - T offset value 3; see device’s user guide for information on how to calibrate.
• cc_t4 (double) - T offset value 4; see device’s user guide for information on how to calibrate.
• cc_t5 (double) - T offset value 5; see device’s user guide for information on how to calibrate.

Changelog for package phidgets_spatial

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)

• Only set magnetometer gain if param is set (#169)
• added new parameters for spatial precision MOT0109 onwards
• added support for phidget spatial onboard orientation estimation
• Contributors: Malte kl. Piening, Martin Günther

2.3.1 (2023-03-03)

2.3.0 (2022-04-13)

2.2.2 (2022-02-17)

• Fix behavior after USB reattachment (#119) The Phidged Spatial never recovered after detaching and reattaching to the USB port. This commit fixes that.
• Add attach + detach handlers
• Fix publishing of invalid mag readings (#116)
• Contributors: Martin Günther

2.2.1 (2021-08-03)

• Make the magnetometer corrections optional again. (#95)
• Update the ROS 2 readme files. (#93)
• Contributors: Chris Lalancette

2.2.0 (2021-05-20)

• Make sure to declare the type while declaring the parameter. (#89)
• Contributors: Chris Lalancette

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)

• Release build fixes (#67)
• Contributors: Chris Lalancette

2.0.1 (2019-12-05)

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

2.0.0 (2019-12-05)

• Include file cleanup.
• Make sure exceptions get caught by reference.
• 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.
• Update FIXME comments for sleep.
• Port spatial to ROS 2.
• Ignore all packages for ROS 2 port.
• Fix wrong defaults for standard deviations (#48)
• Improve the IMU calibration service (#47)
• 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.

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