Package Summary

Tags No category tags.
Version 2.0.1
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 2019-12-05
Dev Status MAINTAINED
Released RELEASED

Package Description

Driver for the Phidgets Spatial 3/3/3 devices

Additional Links

Maintainers

  • Martin G√ľnther
  • Chris Lalancette

Authors

  • Ivan Dryanovski

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

2.0.1 (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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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 answers.ros.org