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watson_ins package from watson_ins repowatson_ins |
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Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/AutonomousVehicleLaboratory/watson_ins.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-01-09 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The watson_ins package
Additional Links
No additional links.
Maintainers
- David Paz
- Nathan Chan
Authors
- David Paz
- Nathan Chan
watson_ins
This is a ROS node for the Watson DMS-SGP02.
Building
This package follows the standard ROS build conventions.
Create a new workspace
mkdir -p catkin_ws/src
Clone the source
cd catkin_ws/src
git clone https://github.com/AutonomousVehicleLaboratory/watson_ins.git
cd ..
Build the source
catkin init
catkin build
Running
rosrun watson_ins watson_ins_node
Node Information
Default Parameters
| Parameter | Value | Description |
|---|---|---|
| SerialPath | /dev/ttyUSB0 | Path of serial port |
| SerialBaud | 9600 | Serial baud rate |
| SerialTimeout | 1000 | Serial port timeout, in milliseconds |
Subscribers
None
Publishers
| Publisher | Function | Message Type |
|---|---|---|
| /imu_raw | Publishes IMU data | sensor_msgs::Imu |
| /fix | Publishes GPS data | sensor_msgs::NavSatFix |
Supported Watson DMS-SGP02 Driver Configuration
| Field | Field Width (Bytes) |
|---|---|
| Data Type | 2 |
| Time Stamp | 9 |
| Roll | 7 |
| Pitch | 6 |
| Yaw | 6 |
| X Acceleration | 6 |
| Y Acceleration | 6 |
| Z Acceleration | 6 |
| Forward Acceleration | 6 |
| Lateral Acceleration | 6 |
| Vertical Acceleration | 6 |
| X Angle Rate | 6 |
| Y Angle Rate | 6 |
| Z Angle Rate | 6 |
| Heading Rate | 6 |
| Forward Velocity | 7 |
| Latitude | 10 |
| Longitude | 11 |
| Altitude | 5 |
Supporting other Watson output configuration
By default, this ROS node supports the fields mentioned in the previous
section. If support for different driver configurations is desired, please see
include/watson_ins_driver.h.
CHANGELOG
No CHANGELOG found.
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.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| std_msgs | |
| sensor_msgs | |
| geometry_msgs | |
| serial | |
| tf2 | |
| tf | |
| catkin | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged watson_ins at Robotics Stack Exchange
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