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phidgets_spatial package from phidgets_drivers repo

libphidget22 phidgets_accelerometer phidgets_analog_inputs phidgets_analog_outputs phidgets_api phidgets_digital_inputs phidgets_digital_outputs phidgets_drivers phidgets_gyroscope phidgets_high_speed_encoder phidgets_ik phidgets_magnetometer phidgets_motors phidgets_msgs phidgets_spatial phidgets_temperature

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.3.3
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/phidgets_drivers.git
VCS Type git
VCS Version humble
Last Updated 2024-05-02
Dev Status MAINTAINED
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

Driver for the Phidgets Spatial 3/3/3 devices

Additional Links

Maintainers

  • Martin Günther
  • Chris Lalancette

Authors

  • Ivan Dryanovski
phidgets_spatial/README.md

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

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 G

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged phidgets_spatial at Robotics Stack Exchange

phidgets_spatial package from phidgets_drivers repo

libphidget22 phidgets_accelerometer phidgets_analog_inputs phidgets_analog_outputs phidgets_api phidgets_digital_inputs phidgets_digital_outputs phidgets_drivers phidgets_gyroscope phidgets_high_speed_encoder phidgets_ik phidgets_magnetometer phidgets_motors phidgets_msgs phidgets_spatial phidgets_temperature

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.3.3
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/phidgets_drivers.git
VCS Type git
VCS Version iron
Last Updated 2024-05-02
Dev Status MAINTAINED
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

Driver for the Phidgets Spatial 3/3/3 devices

Additional Links

Maintainers

  • Martin Günther
  • Chris Lalancette

Authors

  • Ivan Dryanovski
phidgets_spatial/README.md

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

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 G

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged phidgets_spatial at Robotics Stack Exchange

phidgets_spatial package from phidgets_drivers repo

libphidget22 phidgets_accelerometer phidgets_analog_inputs phidgets_analog_outputs phidgets_api phidgets_digital_inputs phidgets_digital_outputs phidgets_drivers phidgets_gyroscope phidgets_high_speed_encoder phidgets_ik phidgets_magnetometer phidgets_motors phidgets_msgs phidgets_spatial phidgets_temperature

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.3.3
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/phidgets_drivers.git
VCS Type git
VCS Version rolling
Last Updated 2024-05-02
Dev Status MAINTAINED
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

Driver for the Phidgets Spatial 3/3/3 devices

Additional Links

Maintainers

  • Martin Günther
  • Chris Lalancette

Authors

  • Ivan Dryanovski
phidgets_spatial/README.md

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

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 G

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged phidgets_spatial at Robotics Stack Exchange

phidgets_spatial package from phidgets_drivers repo

libphidget22 phidgets_accelerometer phidgets_analog_inputs phidgets_analog_outputs phidgets_api phidgets_digital_inputs phidgets_digital_outputs phidgets_drivers phidgets_gyroscope phidgets_high_speed_encoder phidgets_ik phidgets_magnetometer phidgets_motors phidgets_msgs phidgets_spatial phidgets_temperature

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.3.3
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/phidgets_drivers.git
VCS Type git
VCS Version rolling
Last Updated 2024-05-02
Dev Status MAINTAINED
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

Driver for the Phidgets Spatial 3/3/3 devices

Additional Links

Maintainers

  • Martin Günther
  • Chris Lalancette

Authors

  • Ivan Dryanovski
phidgets_spatial/README.md

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

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 G

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged phidgets_spatial at Robotics Stack Exchange

phidgets_spatial package from phidgets_drivers repo

libphidget22 phidgets_accelerometer phidgets_analog_inputs phidgets_analog_outputs phidgets_api phidgets_digital_inputs phidgets_digital_outputs phidgets_drivers phidgets_gyroscope phidgets_high_speed_encoder phidgets_humidity phidgets_ik phidgets_magnetometer phidgets_motors phidgets_msgs phidgets_spatial phidgets_temperature

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.0.9
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/phidgets_drivers.git
VCS Type git
VCS Version noetic
Last Updated 2024-04-26
Dev Status MAINTAINED
CI status
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Driver for the Phidgets Spatial 3/3/3 devices

Additional Links

Maintainers

  • Martin Günther
  • Chris Lalancette

Authors

  • Ivan Dryanovski
phidgets_spatial/README.md

Phidgets spatial ROS driver

This is the ROS driver for Phidgets spatial. The various topics, services, and parameters that the node operates with are listed below.

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. 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 (int) - 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

Changelog for package phidgets_imu

1.0.9 (2024-03-13)

1.0.8 (2023-11-27)

  • Only set magnetometer gain if param is set (#170)
  • Contributors: Martin G

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged phidgets_spatial at Robotics Stack Exchange

phidgets_spatial package from phidgets_drivers repo

libphidget22 phidgets_accelerometer phidgets_analog_inputs phidgets_api phidgets_digital_inputs phidgets_digital_outputs phidgets_drivers phidgets_gyroscope phidgets_high_speed_encoder phidgets_ik phidgets_magnetometer phidgets_motors phidgets_msgs phidgets_spatial phidgets_temperature

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/phidgets_drivers.git
VCS Type git
VCS Version dashing
Last Updated 2020-06-02
Dev Status MAINTAINED
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

Driver for the Phidgets Spatial 3/3/3 devices

Additional Links

Maintainers

  • Martin Günther
  • Chris Lalancette

Authors

  • Ivan Dryanovski
phidgets_spatial/README.md

Phidgets spatial ROS 2 driver

This is the ROS 2 driver for Phidgets spatial. The various topics, services, and parameters that the node operates with are listed below.

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.
  • 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

Changelog for package phidgets_imu

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.
  • 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.
  • Finish removing launch file from phidgets_spatial.
  • Rewrite IMU using libphidget22.
  • Contributors: Chris Lalancette, Martin G

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged phidgets_spatial at Robotics Stack Exchange

phidgets_spatial package from phidgets_drivers repo

libphidget22 phidgets_accelerometer phidgets_analog_inputs phidgets_api phidgets_digital_inputs phidgets_digital_outputs phidgets_drivers phidgets_gyroscope phidgets_high_speed_encoder phidgets_ik phidgets_magnetometer phidgets_motors phidgets_msgs phidgets_spatial phidgets_temperature

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/phidgets_drivers.git
VCS Type git
VCS Version dashing
Last Updated 2020-06-02
Dev Status MAINTAINED
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

Driver for the Phidgets Spatial 3/3/3 devices

Additional Links

Maintainers

  • Martin Günther
  • Chris Lalancette

Authors

  • Ivan Dryanovski
phidgets_spatial/README.md

Phidgets spatial ROS 2 driver

This is the ROS 2 driver for Phidgets spatial. The various topics, services, and parameters that the node operates with are listed below.

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.
  • 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

Changelog for package phidgets_imu

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.
  • 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.
  • Finish removing launch file from phidgets_spatial.
  • Rewrite IMU using libphidget22.
  • Contributors: Chris Lalancette, Martin G

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged phidgets_spatial at Robotics Stack Exchange

phidgets_spatial package from phidgets_drivers repo

libphidget22 phidgets_accelerometer phidgets_analog_inputs phidgets_api phidgets_digital_inputs phidgets_digital_outputs phidgets_drivers phidgets_gyroscope phidgets_high_speed_encoder phidgets_ik phidgets_magnetometer phidgets_motors phidgets_msgs phidgets_spatial phidgets_temperature

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.2.3
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/phidgets_drivers.git
VCS Type git
VCS Version galactic
Last Updated 2022-04-13
Dev Status MAINTAINED
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

Driver for the Phidgets Spatial 3/3/3 devices

Additional Links

Maintainers

  • Martin Günther
  • Chris Lalancette

Authors

  • Ivan Dryanovski
phidgets_spatial/README.md

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.
  • 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

Changelog for package phidgets_spatial

2.2.3 (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 G

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged phidgets_spatial at Robotics Stack Exchange

phidgets_spatial package from phidgets_drivers repo

libphidget22 phidgets_accelerometer phidgets_analog_inputs phidgets_api phidgets_digital_inputs phidgets_digital_outputs phidgets_drivers phidgets_gyroscope phidgets_high_speed_encoder phidgets_ik phidgets_magnetometer phidgets_motors phidgets_msgs phidgets_spatial phidgets_temperature

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.1.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-drivers/phidgets_drivers.git
VCS Type git
VCS Version foxy
Last Updated 2022-04-13
Dev Status MAINTAINED
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

Driver for the Phidgets Spatial 3/3/3 devices

Additional Links

Maintainers

  • Martin Günther
  • Chris Lalancette

Authors

  • Ivan Dryanovski
phidgets_spatial/README.md

Phidgets spatial ROS 2 driver

This is the ROS 2 driver for Phidgets spatial. The various topics, services, and parameters that the node operates with are listed below.

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.
  • 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

Changelog for package phidgets_spatial

2.1.2 (2022-04-13)

2.1.1 (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 G

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

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