sbg_driver

ROS2 driver package for SBG Systems IMU, AHRS and INS.
This driver package uses the sbgECom binary protocol to read data and configure SBG Systems devices.

Initial work has been done by ENSTA Bretagne.

Author: SBG Systems
Maintainer: SBG Systems
Contact: support@sbg-systems.com

Features

The driver supports the following features:

• Configure ELLIPSE products using yaml files (see note below)
• Parse IMU/AHRS/INS/GNSS using the sbgECom protocol
• Publish standard ROS messages and more detailed specific SBG Systems topics
• Subscribe and forward RTCM data to support DGPS/RTK mode with centimeters-level accuracy
• Calibrate 2D/3D magnetic field using the on-board ELLIPSE algorithms

[!NOTE] Only ELLIPSE devices can be configured from the ROS driver. For High Performance INS such as EKINOX, APOGEE and QUANTA, please use the sbgInsRestApi

Installation

Installation from Packages

User can install the sbg_ros2_driver through the standard ROS installation system.

• Galactic sudo apt-get install ros-galactic-sbg-driver
• Foxy sudo apt-get install ros-foxy-sbg-driver

Building from sources

Dependencies

• Robot Operating System (ROS)
• sbgECom C Library (embeds v4.0.1987-stable - compatible with ELLIPSE firmware 2.5 and above)

Building

1. Clone the repository (use a Release version)
2. Build using the ROS colcon build system

cd colcon_ws/src
git clone https://github.com/SBG-Systems/sbg_ros2_driver.git
cd sbg_ros2_driver
rosdep update
rosdep install --from-path .
cd ../..
colcon build
source install/setup.bash

Usage

To run the default Ros2 node with the default configuration

ros2 launch sbg_driver sbg_device_launch.py

To run the magnetic calibration node

ros2 launch sbg_driver sbg_device_mag_calibration_launch.py

Config files

Default config files

Every configuration file is defined according to the same structure.

• sbg_device_uart_default.yaml This config file is the default one for UART connection with the device.
  It does not configure the device through the ROS node, so it has to be previously configured (manually or with the ROS node).
  It defines a few outputs for the device:
  • /sbg/imu_data, /sbg/ekf_quat at 25Hz
  • ROS standard outputs /imu/data, /imu/velocity, /imu/temp at 25Hz
  • /sbg/status, /sbg/utc_time and /imu/utc_ref at 1Hz.
• sbg_device_udp_default.yaml This config file is the default one for an Udp connection with the device.
  It does not configure the device through the ROS node, so it has to be previously configured (manually or with the ROS node).
  It defines a few outputs for the device:
  • /sbg/imu_data, /sbg/ekf_quat at 25Hz
  • ROS standard outputs /imu/data, /imu/velocity, /imu/temp at 25Hz
  • /sbg/status, /sbg/utc_time and /imu/utc_ref at 1Hz.

Example config files

• ellipse_A_default.yaml Default config file for an Ellipse-A.

• ellipse_E_default.yaml Default config file for an Ellipse-E with an external NMEA GNSS.

• ellipse_N_default.yaml Default config file for an Ellipse-N using internal GNSS.

• ellipse_D_default.yaml Default config file for an Ellipse-D using internal GNSS.

Launch files

Default launch files

• sbg_device_launch.py Launch the sbg_device node to handle the received data, and load the sbg_device_uart_default.yaml configuration.

• sbg_device_mag_calibration_launch.py

File truncated at 100 lines see the full file

Changelog for package sbg_driver

3.2.0 (2024-10-17)

• Update README with ROS2 commands to launch magnetic calibration

• Fix segfault when running magnetic calibration

• Removed unused flags from SbgEkfStatus message

• Added new flags to SbgShipMotionStatus message

• Improved SbgStatusAiding message with new flags

• Improved SbgPosStatus message with new flags

• Improved SbgEkfStatus message with new flags

• Improved SbgStatusGeneral message with datalogger and cpu flags

• Updated documentation for sbgGpsPos message

• Updated documentation for sbgGpsHdt message

• Improved SbgUtcTime message with internal clock quality indicators

• Improved SbgStatusCom message with ethernet tx and rx status

• Improved SbgGpsHdt message with number of SV tracked and used

• Improved SbgGpsPos message with numSvTracked

• Improved SbgGpsPosStatus message with spoofing, jamming and OSNMA status

• Updated config files with new messages

• Removed obsolete documentation

• Updated published topic list

• Added missing topic names

• Updated dependencies requirement

• Added settings log_ekf_rot_accel_body / log_ekf_rot_accel_ned / log_ekf_vel_body

• Fixed functions description

• Added SbgEkfRotAccel body and NED messages

• Added SbgEkfVelBody message

• Fixing compiling issues

• Updated sbgECom lib with version 4.0-1987-stable

• Fixed typos about lever arm

• Fixed config applier for IMU Alignment / Aiding / Odometer lever arms

• Remove boost dependency (cherry picked from commit ab54c33f1e442c3737dd8e1c09a8b6f36c2c1afa)

• Cleanup

• Moved LLAtoECEF into a helper

• Variable naming

• WIP code cleanup

• Class documentation

• Code indentation

• Utm as class

• Indentation fix

• Updated sbg_utm documentation and function prototype

• Added documentation on Utm structure

• Added documentation on Position class

• Added Position class

• Factory for UTM data

• Fixed space / tabluations issues

• Code indentation

• SbgUtm documentation

• Using fma for computation

File truncated at 100 lines see the full file