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Repository Summary
| Checkout URI | https://github.com/cubicleguy/ess_imu_ros1_uart_driver.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-08-03 |
| 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) |
Packages
| Name | Version |
|---|---|
| ess_imu_ros1_uart_driver | 1.3.2 |
README
README for Epson IMU Driver using UART interface for ROS
What is this repository for?
- This code provides interface between Epson IMU (current default=G365PDF0 or G325/G320/G354/G364/G370/V340) and ROS using the UART interface.
- The UART connection can be either direct or by USB-serial converter such as FTDI bridge ICs.
- The src/epson_imu_uart_driver_node.cpp is the ROS C++ wrapper used to communicate with ROS
- The other source files in src/ are based on the C driver released by Epson: Epson IMU UART-only Linux User-space Driver Example
- Information about ROS, ROS packages, and tutorials can be found: ROS.org
What kind of hardware or software will I likely need?
This will likely require the following:
- Epson USB evaluation board or equivalent FTDI USB-Serial interface to connect to ROS host (tty/serial) See Evaluation Boards
- Epson IMU (V340/G320/G325/G354/G364/G365/G370) IMU models
- ROS Indigo or later (via download) ROS.org
How do I use the driver?
- This code assumes that the user is familiar with building ROS packages using the catkin build process.
- This is NOT detailed instructions describing step by step procedures on how to build and install this ROS driver.
- Please refer to the ROS.org website for more detailed instructions on configuring the ROS environment & the ROS package build process. ROS.org
- NOTE: At bare minimum, you must modify the CMakeLists.txt to select the desired IMU model, and build the package atleast once or any time you use a different IMU model.
- If the IMU model is unchanged, then subsequent changes to IMU settings can be done by editing the IMU model specific .launch file.
- The IMU model specific launch file should only be used with the same catkin-built executable matching the IMU model.
- NOTE Do not mix IMU model launch files & IMU model catkin built binaries.
How do I use the driver if usleep() is not supported for time delays?
- NOTE: In the hcl_linux.c, there are functions for time delays in millisecond and microseconds using seDelayMS() and seDelayMicroSecs(), respectively.
- On embedded Linux platforms, these may need to be redirected to platform specific delay routines if usleep() is not supported.
- For example on RaspberryPi, the time delay functions for millisecond and microseconds can be redirected to WiringPi library delay() and delayMicroseconds(), respectively.
- If a hardware delay is not available from a library, then a software delay loop is possible but not preferred.
How do I use the driver with GPIOs to control IMU RESET#, DRDY, EXT pins?
- Because this driver connects to the IMU using the UART interface, the use of GPIO pins for connecting to the IMU RESET#, EXT, or DRDY is purely optional and mainly intended for embedded Linux platforms (non-PC based).
- When possible, connecting the RESET# is recommended to force Hardware Reset during every IMU initialization, for better robustness.
- Although this code does not implement GPIO functions, this code is structured to easily redirect to low-level hardware GPIO function calls for ease of implementation.
- There is no standard method to implement GPIO connections on embedded Linux platform, but the following files typically need changes:
src/hcl_linux.c
src/hcl_gpio.c
src/hcl_gpio.h
Typically, an external library needs to be invoked to initialize & enable GPIO HW functions.
-
This typically requires changes to hcl_linux.c
- add #include to external library near the top of hcl_linux.c
- add the initialization call inside the seInit() function in hcl_linux.c
For example on an Raspberry Pi, the following changes can be made to hcl_linux.c:
...
#include <stdint.h>
#include <stdio.h>
#include <wiringPi.h> // <== Added external library
int seInit(void)
{
// Initialize wiringPi libraries // <== Added
printf("\r\nInitializing libraries..."); // <== Added
if(wiringPiSetupGpio() != 0) { // <== Added external library initialization
printf("\r\nError: could not initialize wiringPI libraries. Exiting...\r\n"); // <== Added
return NG; // <== Added
} // <== Added
printf("...done.");
return OK;
}
...
Typically, the GPIO pins need to be assigned according to pin numbering specific to the HW platform.
This typically requires changes to hcl_gpio.h
For example on an Raspberry Pi, the following changes to hcl_gpio.h with the following pin mapping:
Epson IMU Raspberry Pi
---------------------------------------------------
EPSON_RESET RPI_GPIO_P1_15 (GPIO22) Output
EPSON_DRDY RPI_GPIO_P1_18 (GPIO24) Input
...
// Prototypes for generic GPIO functions
int gpioInit(void);
int gpioRelease(void);
void gpioSet(uint8_t pin);
void gpioClr(uint8_t pin);
uint8_t gpioGetPinLevel(uint8_t pin);
#define RPI_GPIO_P1_15 22 // <== Added
#define RPI_GPIO_P1_18 24 // <== Added
#define EPSON_RESET RPI_GPIO_P1_15 // <== Added
#define EPSON_DRDY RPI_GPIO_P1_18 // <== Added
...
Typically, the external library will have GPIO pin control functions such as set_output, set_input, set, reset, read_pin_level, etc...
-
This requires changes to hcl_gpio.c
- Redirect function calls in hcl_gpio.c for gpioInit(), gpioRelease(), gpioSet(), gpioClr(), gpioGetPinLevel() to equivalent external library pin control functions.
- For example on an Raspberry Pi, the following changes to hcl_gpio.c:
#include "hcl.h"
#include "hcl_gpio.h"
#include <wiringPi.h> // <== Added external library
...
int gpioInit(void)
{
pinMode(EPSON_RESET, OUTPUT); // <== Added external call RESET Output Pin
pinMode(EPSON_DRDY, INPUT); // <== Added external call DRDY Input Pin
pullUpDnControl(EPSON_DRDY, PUD_OFF) ; // <== Added external call Disable any internal pullup or pulldown resistance
return OK;
}
...
int gpioRelease(void)
{
return OK;
}
...
void gpioSet(uint8_t pin)
{
digitalWrite(pin, HIGH); // <== Added external call set pin HIGH
}
...
void gpioClr(uint8_t pin)
{
digitalWrite(pin, LOW); // <== Added external call set pin LOW
}
...
uint8_t gpioGetPinLevel(uint8_t pin)
{
return (digitalRead(pin)); // <== Added external call to return pin state of input pin
}
...
How do I build, install, run this ROS1 package?
The Epson IMU ROS1 driver is designed to build in the ROS catkin build environment. Therefore, a functional catkin workspace in ROS1 is a prerequisite. Refer to the ROS1 Tutorials for more info: ROS1 Tutorial
For more information on ROS & catkin setup refer to Installing and Configuring ROS Environment.
- Place this package (including folders) into a new folder within your catkin workspace "src" folder. For example, we recommend using the folder name "ess_imu_ros1_uart_driver"
<catkin_workspace>/src/ess_imu_ros1_uart_driver/ <-- place files here
Modify the CMakeLists.txt to select the desired Epson IMU model that is attached to the ROS system. Refer to the comment lines inside the CMakeLists.txt for additional info. NOTE: You MUST re-build using catkin_make when changing IMU models or any changes in the CmakeLists.txt
From the catkin workspace folder run "catkin_make" to build all ROS1 packages located in the
/src/ folder. Re-run the above "catkin_make" command to rebuild the driver after making any changes to the CMakeLists.txt, any of the .c or .cpp or .h source files. NOTE: It is not necessary to "catkin_make" if changes are only made to the launch files. NOTE: It is recommended to change IMU settings by editing the parameters in the launch file, wherever possible, instead of modifying the .c or .cpp source files directly
<catkin_workspace>/catkin_make
- Reload the current ROS environment variables that may have changed after the catkin build process.
From the <catkin_workspace>: source devel/setup.bash
- Modify the appropriate launch file for the IMU model in the launch/ folder to set your desired IMU configure parameter options at runtime:
| Launch File Parameter | Comment |
|---|---|
| ext_sel | specifies the function of the GPIO2 (GPIO2, External Trigger, External Counter Reset) |
| ext_pol | specifies the polarity of the GPIO2 pin when External Trigger or External Counter Reset is selected |
| drdy_on | specifies to enable DRDY function on GPIO1 |
| drdy_pol | specifies the polarity of the DRDY input pin when enabled |
| dout_rate | specifies the IMU output data rate |
| filter_sel | specifies the IMU filter setting |
| flag_out | specifies to enable or disable ND_FLAG status in IMU output data (not used by ROS) |
| temp_out | specifies to enable or disable TempC sensor in IMU output data (not used by ROS) |
| gyro_out | specifies to enable or disable Gyro sensor in IMU output data (must be enabled) |
| accel_out | specifies to enable or disable Accl sensor in IMU output data (must be enabled) |
| gyro_delta_out | specifies to enable or disable DeltaAngle in IMU output data (not used by ROS) |
| accel_delta_out | specifies to enable or disable DeltaVelocity in IMU output data (not used by ROS) |
| qtn_out | specifies to enable or disable Quaternion in IMU output data (only support for G325/G365) |
| atti_out | specifies to enable or disable Attitude in IMU output data (not used by ROS) |
| gpio_out | specifies to enable or disable GPIO in IMU output data (not used by ROS) |
| count_out | specifies to enable or disable counter in IMU output data (must be enabled when time_correction is enabled) |
| checksum_out | specifies to enable or disable checksum in IMU output data (when enabled checksum errors are detected) |
| temp_bit | specifies to 16 or 32 bit resolution in TempC output data (not used by ROS) |
| gyro_bit | specifies to 16 or 32 bit resolution in Gyro output data |
| accel_bit | specifies to 16 or 32 bit resolution in Accl output data |
| gyro_delta_bit | specifies to 16 or 32 bit resolution in DeltaAngle output data (not used by ROS) |
| accel_delta_bit | specifies to 16 or 32 bit resolution in DeltaVelocity output data (not used by ROS) |
| qtn_bit | specifies to 16 or 32 bit resolution in Quaternion output data (only support for G325/G365) |
| invert_xgyro | specifies to reverse polarity of this sensor axis |
| invert_ygyro | specifies to reverse polarity of this sensor axis |
| invert_zgyro | specifies to reverse polarity of this sensor axis |
| invert_xaccel | specifies to reverse polarity of this sensor axis |
| invert_yaccel | specifies to reverse polarity of this sensor axis |
| invert_zaccel | specifies to reverse polarity of this sensor axis |
| atti_mode | specifies the attitude mode as 0=inclination or 1=euler (only support for G325/G365) |
| atti_profile | specifies the attitude motion profile (supported only for G325PDF1 or G365PDF1) |
| time_correction | enables time correction function using IMU counter reset function & external 1PPS connection to IMU GPIO2/EXT pin. Must have ext_sel=1 (external counter reset) |
NOTE: The ROS1 launch file passes IMU configuration settings to the IMU at runtime. Therefore does not need rebuilding with catkin when changing the launch file.
- To start the Epson IMU ROS1 driver use the appropriate launch file (located in launch/) from console. All parameters are described in the inline comments of the launch file. The launch file contains parameters for configuring settings at runtime.
For example, for the Epson G365 IMU:
<catkin_workspace>/roslaunch ess_imu_ros1_uart_driver epson_g325_g365.launch
| Launch File | Description |
|---|---|
| epson_g320_g354_g364.launch | For G320/G354/G364, outputs to ROS topic imu/data_raw (gyro, accel, but no quaternion orientation) |
| epson_g325_g365.launch | For G325PDF1/G365PDx1, outputs to ROS topic imu/data (gyro, accel data, including quaternion orientation) |
| epson_g325_g365_raw.launch | For G325PDF0/G365PDx0, outputs to ROS topic imu/data_raw (gyro, accel data, but no quaternion orientation) |
| epson_g370.launch | For G370, outputs to ROS topic imu/data_raw (gyro, accel, but no quaternion orientation) |
| epson_v340.launch | For V340, outputs to ROS topic imu/data_raw (gyro, accel, but no quaternion orientation) |
Example console output of catkin build for G370PDF1:
guest@guest-VirtualBox:~/catkin_ws$ catkin_make
Base path: /home/guest/catkin_ws
Source space: /home/guest/catkin_ws/src
Build space: /home/guest/catkin_ws/build
Devel space: /home/guest/catkin_ws/devel
Install space: /home/guest/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/guest/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/guest/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/noetic
-- This workspace overlays: /opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/guest/catkin_ws/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10")
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - ess_imu_ros1_uart_driver
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'beginner_tutorials'
-- ==> add_subdirectory(beginner_tutorials)
-- +++ processing catkin package: 'ess_imu_ros1_uart_driver'
-- ==> add_subdirectory(ess_imu_ros1_uart_driver)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
---- Building for IMU Model: G370PDF1
-- Configuring done
-- Generating done
-- Build files have been written to: /home/guest/catkin_ws/build
####
#### Running command: "make -j1 -l1" in "/home/guest/catkin_ws/build"
####
Scanning dependencies of target ess_imu_ros1_uart_driver_lib
[ 11%] Building C object ess_imu_ros1_uart_driver/CMakeFiles/ess_imu_ros1_uart_driver_lib.dir/src/hcl_gpio.c.o
[ 22%] Building C object ess_imu_ros1_uart_driver/CMakeFiles/ess_imu_ros1_uart_driver_lib.dir/src/hcl_linux.c.o
[ 33%] Building C object ess_imu_ros1_uart_driver/CMakeFiles/ess_imu_ros1_uart_driver_lib.dir/src/hcl_uart.c.o
[ 44%] Building C object ess_imu_ros1_uart_driver/CMakeFiles/ess_imu_ros1_uart_driver_lib.dir/src/sensor_epsonCommon.c.o
[ 55%] Building C object ess_imu_ros1_uart_driver/CMakeFiles/ess_imu_ros1_uart_driver_lib.dir/src/sensor_epsonUart.c.o
[ 66%] Building C object ess_imu_ros1_uart_driver/CMakeFiles/ess_imu_ros1_uart_driver_lib.dir/src/sensor_epsonG370.c.o
[ 77%] Linking C shared library /home/guest/catkin_ws/devel/lib/libess_imu_ros1_uart_driver_lib.so
[ 77%] Built target ess_imu_ros1_uart_driver_lib
Scanning dependencies of target ess_imu_ros1_uart_driver_node
[ 88%] Building CXX object ess_imu_ros1_uart_driver/CMakeFiles/ess_imu_ros1_uart_driver_node.dir/src/epson_imu_uart_driver_node.cpp.o
[100%] Linking CXX executable /home/guest/catkin_ws/devel/lib/ess_imu_ros1_uart_driver/ess_imu_ros1_uart_driver_node
user@user-VirtualBox:~/catkin_ws$
Example console output of launching ROS1 node for G370PDF1:
guest@guest-VirtualBox:~/catkin_ws$ roslaunch ess_imu_ros1_uart_driver epson_g370.launch
... logging to /home/guest/.ros/log/2c19a2fa-09de-11ed-b9c7-1dd2c95e9576/roslaunch-guest-VirtualBox-68073.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://guest-VirtualBox:33993/
SUMMARY
========
PARAMETERS
* /ess_imu_ros1_uart_driver_node/accel_bit: 1
* /ess_imu_ros1_uart_driver_node/accel_delta_bit: 1
* /ess_imu_ros1_uart_driver_node/accel_delta_out: 0
* /ess_imu_ros1_uart_driver_node/accel_out: 1
* /ess_imu_ros1_uart_driver_node/atti_bit: 1
* /ess_imu_ros1_uart_driver_node/atti_out: 0
* /ess_imu_ros1_uart_driver_node/checksum_out: 1
* /ess_imu_ros1_uart_driver_node/count_out: 1
* /ess_imu_ros1_uart_driver_node/dout_rate: 9
* /ess_imu_ros1_uart_driver_node/drdy_on: 0
* /ess_imu_ros1_uart_driver_node/drdy_pol: 0
* /ess_imu_ros1_uart_driver_node/ext_pol: 0
* /ess_imu_ros1_uart_driver_node/ext_sel: 0
* /ess_imu_ros1_uart_driver_node/filter_sel: 9
* /ess_imu_ros1_uart_driver_node/flag_out: 1
* /ess_imu_ros1_uart_driver_node/gpio_out: 0
* /ess_imu_ros1_uart_driver_node/gyro_bit: 1
* /ess_imu_ros1_uart_driver_node/gyro_delta_bit: 1
* /ess_imu_ros1_uart_driver_node/gyro_delta_out: 0
* /ess_imu_ros1_uart_driver_node/gyro_out: 1
* /ess_imu_ros1_uart_driver_node/invert_xaccel: 0
* /ess_imu_ros1_uart_driver_node/invert_xgyro: 0
* /ess_imu_ros1_uart_driver_node/invert_yaccel: 0
* /ess_imu_ros1_uart_driver_node/invert_ygyro: 0
* /ess_imu_ros1_uart_driver_node/invert_zaccel: 0
* /ess_imu_ros1_uart_driver_node/invert_zgyro: 0
* /ess_imu_ros1_uart_driver_node/port: /dev/ttyUSB0
* /ess_imu_ros1_uart_driver_node/temp_bit: 1
* /ess_imu_ros1_uart_driver_node/temp_out: 1
* /ess_imu_ros1_uart_driver_node/time_correction: 0
* /rosdistro: noetic
* /rosversion: 1.15.14
NODES
/
ess_imu_ros1_uart_driver_node (ess_imu_ros1_uart_driver/ess_imu_ros1_uart_driver_node)
auto-starting new master
process[master]: started with pid [68081]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 2c19a2fa-09de-11ed-b9c7-1dd2c95e9576
process[rosout-1]: started with pid [68091]
started core service [/rosout]
process[ess_imu_ros1_uart_driver_node-2]: started with pid [68098]
[ INFO] [1658508535.570966373]: Initializing HCL layer...
[ INFO] [1658508535.573199394]: Initializing GPIO interface...
[ INFO] [1658508535.573240446]: Initializing UART interface...
Attempting to open port.../dev/ttyUSB0
...sensorDummyWrite.[ INFO] [1658508535.846582632]: Checking sensor NOT_READY status...
...done.[ INFO] [1658508536.709401928]: Initializing Sensor...
[ INFO] [1658508536.789099009]: PRODUCT ID: G370PDF1
[ INFO] [1658508536.856388807]: SERIAL ID: X0000002
...Sensor start.[ INFO] [1658508536.859844867]: Quaternion Output: Native.
What does this ROS1 IMU Node Publish as messages?
The Epson IMU ROS1 driver will publish IMU messages as convention per REP 145.
- For IMU models such as G320/G354/G364/G370/V340, the IMU messages will only update the fields for angular rate (gyro) and linear acceleration (accel) data.
- For IMU models G325/G365, it depends on the enabling/disabling of the internal attitude function with quaternion output:
- IMU messages will only update angular rate (gyro) and linear acceleration (accel) fields when quaternion output is disabled
- IMU messages will also update the orientation field using the internal extended Kalman Filter when the quaternion output is enabled
Without Quaternion Output
- When quaternion output is disabled or for non-quaternion output models, the ROS1 driver will publish to ROS topic /epson_imu/data_raw
- However, the launch file will remap the message to publish on ROS topic /imu/data_raw
ROS Topic Message data_raw
---
header:
seq: 34983
stamp:
secs: 1601590579
nsecs: 771273325
frame_id: "imu_link"
orientation:
x: 2.4786295434e+33
y: 1.1713334935e+38
z: 1.17130631507e+38
w: 1.17130956026e+38
orientation_covariance: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: 0.00435450254008
y: 0.000734272529371
z: -9.40820464166e-05
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
x: -0.730921983719
y: -1.54766368866
z: 9.72711181641
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
With Quaternion Output
- When quaternion output is enabled, the ROS1 driver will publish to ROS topic /epson_imu/raw
- However, the launch file will remap the message to publish to ROS topic /imu/raw
ROS Topic Message data
---
header:
seq: 10608
stamp:
secs: 1601575987
nsecs: 673387357
frame_id: "imu_link"
orientation:
x: -0.0801454782486
y: 0.0367396138608
z: 0.00587898213416
w: 0.996088504791
orientation_covariance: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: -0.00118702522013
y: 0.000320095219649
z: -0.00014466587163
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
x: -0.727666378021
y: -1.5646469593
z: 9.69056034088
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
Why am I seeing high latencies or slower than expected IMU data rates when using USB-UART bridges?
- If your connection between the Epson IMU UART and the Linux host is by FTDI (or similar USB-UART bridge devices, the default latency_timer setting may be too large (i.e. typically 16msec).
- It is recommended to set the USB latency timer to 1msec to minimize latency issues.
Modifying latency_timer by sysfs mechanism
The example below reads the latency_timer setting for /dev/ttyUSB0 which returns 16msec. Then, the latency_timer is set to 1msec, and confirmed by readback.
NOTE: May require root (sudo su) access on your system to modify.
cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
16
echo 1 > /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
1
Modifying low_latency flag using setserial utility
The example below sets the low_latency flag for /dev/ttyUSB0. This will have the same effect as setting the latency_timer to 1msec. This can be confirmed by running the setserial command again.
user@user-VirtualBox:~$ setserial /dev/ttyUSB0
/dev/ttyUSB0, UART: unknown, Port: 0x0000, IRQ: 0
user@user-VirtualBox:~$ setserial /dev/ttyUSB0 low_latency
user@user-VirtualBox:~$ setserial /dev/ttyUSB0
/dev/ttyUSB0, UART: unknown, Port: 0x0000, IRQ: 0, Flags: low_latency
Package Contents
The Epson IMU ROS1 driver-related sub-folders & root files are:
launch/ <== various example launch files for Epson IMU models
src/ <== source code for ROS node C++ wrapper, IMU C driver, and additional README_src.md specifically for buidling and using the IMU C driver alone (without ROS support)
CMakeLists.txt <== build script for catkin_make
LICENSE.txt <== description of the applicable licenses
package.xml <== catkin package description
README.md <== general README for the ROS1 driver
Other subfolders are supplemental:
jetson/ <== This README_jetson.md file related to using the ROS driver on Jetson TK1
visual <== example python2 3D visualizer using the deprecated python-visual library
The visual/ folder contains a 2 modified ROS Python2-based 3D visualization nodes taken from ROS razor_imu_9dof Refer to the README_visual.md in the visual folder for more info.
Generating Orientation from Gyroscope & Accelerometer Messages
In many cases, the ROS system needs fused orientation data, but there are Epson IMU models that do not have quaternion output function. In such cases, it is possible to use other opensource ROS packages to subscribe to gyro & accelerometer messages --> post-process --> publish fused orientation messages.
Some examples that have been briefly tested are: - ROS imu_filter_madgwick - ROS imu_complementary_filter
NOTE:
The Epson IMU ROS Driver node needs to be correctly started and publishing before starting the other filter package nodes.
imu_filter_madgwick usage notes
- Modify the imu_filter_madgwick/cfg/ImuFilterMadwick.cfg
- modified with "gain" set to 0.01
- Modify the imu_filter_madgwick/src/imu_filter_ros.cpp
- modified with "use_mag_" set to "false"
- modified with "publish_debug_topics_" set to "true", for debugging only
- modified with "world_frame" set to "enu"
- Build the package using catkin_make
- Run the package using rosrun
Below is an example of the console output of properly run imu_filter_madgwick node using rosrun:
user@user-VirtualBox:~$ rosrun imu_filter_madgwick imu_filter_node
[ INFO] [1562357562.704539235]: Starting ImuFilter
[ WARN] [1562357562.711807728]: Deprecation Warning: The parameter world_frame was not set, default is 'nwu'.
[ WARN] [1562357562.711846440]: Starting with ROS Lunar, world_frame will default to 'enu'!
[ INFO] [1562357562.711872116]: Using dt computed from message headers
[ INFO] [1562357562.740226610]: Imu filter gain set to 0.010000
[ INFO] [1562357562.740303616]: Gyro drift bias set to 0.000000
[ INFO] [1562357562.740360807]: Magnetometer bias values: 0.000000 0.000000 0.000000
[ INFO] [1562357562.913838393]: First IMU message received.
imu_complementary_filter usage notes
- Build the package using catkin_make
- Modify the imu_complementary_filter/launch/complementary_filter.launch
- delete section "IMU Driver", since the Epson IMU driver will provide the driver services
- set "do_bias_estimation" to "false" to disable software bias estimation using thresholding
- set "use_mag" to "false", since Epson IMUs do not have magnetometers
- set "publish_tf" to "true", for debugging only
- set "publish_debug_topics" to "true", for debugging only
- Launch the package using roslaunch
Below is an example of the console output of properly launched imu_complementary_filter node:
user@user-VirtualBox:~$ roslaunch imu_complementary_filter complementary_filter.launch
... logging to /home/user/.ros/log/371870a4-9f52-11e9-a5ed-0800277645e4/roslaunch-user-VirtualBox-11435.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://user-VirtualBox:36627/
SUMMARY
========
PARAMETERS
* /complementary_filter_gain_node/do_adaptive_gain: True
* /complementary_filter_gain_node/do_bias_estimation: False
* /complementary_filter_gain_node/gain_acc: 0.01
* /complementary_filter_gain_node/gain_mag: 0.01
* /complementary_filter_gain_node/publish_debug_topics: True
* /complementary_filter_gain_node/publish_tf: True
* /complementary_filter_gain_node/use_mag: False
* /rosdistro: indigo
* /rosversion: 1.11.20
NODES
/
complementary_filter_gain_node (imu_complementary_filter/complementary_filter_node)
imu_manager (nodelet/nodelet)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[imu_manager-1]: started with pid [11453]
process[complementary_filter_gain_node-2]: started with pid [11454]
[ INFO] [1562357391.925090075]: Starting ComplementaryFilterROS
[ INFO] [1562357392.018532806]: Initializing nodelet with 2 worker threads.
License
Refer to LICENSE.txt in this package
References
CONTRIBUTING
No CONTRIBUTING.md found.
Repository Summary
| Checkout URI | https://github.com/cubicleguy/ess_imu_ros1_uart_driver.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-08-03 |
| 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) |
Packages
| Name | Version |
|---|---|
| ess_imu_ros1_uart_driver | 1.3.2 |
README
README for Epson IMU Driver using UART interface for ROS
What is this repository for?
- This code provides interface between Epson IMU (current default=G365PDF0 or G325/G320/G354/G364/G370/V340) and ROS using the UART interface.
- The UART connection can be either direct or by USB-serial converter such as FTDI bridge ICs.
- The src/epson_imu_uart_driver_node.cpp is the ROS C++ wrapper used to communicate with ROS
- The other source files in src/ are based on the C driver released by Epson: Epson IMU UART-only Linux User-space Driver Example
- Information about ROS, ROS packages, and tutorials can be found: ROS.org
What kind of hardware or software will I likely need?
This will likely require the following:
- Epson USB evaluation board or equivalent FTDI USB-Serial interface to connect to ROS host (tty/serial) See Evaluation Boards
- Epson IMU (V340/G320/G325/G354/G364/G365/G370) IMU models
- ROS Indigo or later (via download) ROS.org
How do I use the driver?
- This code assumes that the user is familiar with building ROS packages using the catkin build process.
- This is NOT detailed instructions describing step by step procedures on how to build and install this ROS driver.
- Please refer to the ROS.org website for more detailed instructions on configuring the ROS environment & the ROS package build process. ROS.org
- NOTE: At bare minimum, you must modify the CMakeLists.txt to select the desired IMU model, and build the package atleast once or any time you use a different IMU model.
- If the IMU model is unchanged, then subsequent changes to IMU settings can be done by editing the IMU model specific .launch file.
- The IMU model specific launch file should only be used with the same catkin-built executable matching the IMU model.
- NOTE Do not mix IMU model launch files & IMU model catkin built binaries.
How do I use the driver if usleep() is not supported for time delays?
- NOTE: In the hcl_linux.c, there are functions for time delays in millisecond and microseconds using seDelayMS() and seDelayMicroSecs(), respectively.
- On embedded Linux platforms, these may need to be redirected to platform specific delay routines if usleep() is not supported.
- For example on RaspberryPi, the time delay functions for millisecond and microseconds can be redirected to WiringPi library delay() and delayMicroseconds(), respectively.
- If a hardware delay is not available from a library, then a software delay loop is possible but not preferred.
How do I use the driver with GPIOs to control IMU RESET#, DRDY, EXT pins?
- Because this driver connects to the IMU using the UART interface, the use of GPIO pins for connecting to the IMU RESET#, EXT, or DRDY is purely optional and mainly intended for embedded Linux platforms (non-PC based).
- When possible, connecting the RESET# is recommended to force Hardware Reset during every IMU initialization, for better robustness.
- Although this code does not implement GPIO functions, this code is structured to easily redirect to low-level hardware GPIO function calls for ease of implementation.
- There is no standard method to implement GPIO connections on embedded Linux platform, but the following files typically need changes:
src/hcl_linux.c
src/hcl_gpio.c
src/hcl_gpio.h
Typically, an external library needs to be invoked to initialize & enable GPIO HW functions.
-
This typically requires changes to hcl_linux.c
- add #include to external library near the top of hcl_linux.c
- add the initialization call inside the seInit() function in hcl_linux.c
For example on an Raspberry Pi, the following changes can be made to hcl_linux.c:
...
#include <stdint.h>
#include <stdio.h>
#include <wiringPi.h> // <== Added external library
int seInit(void)
{
// Initialize wiringPi libraries // <== Added
printf("\r\nInitializing libraries..."); // <== Added
if(wiringPiSetupGpio() != 0) { // <== Added external library initialization
printf("\r\nError: could not initialize wiringPI libraries. Exiting...\r\n"); // <== Added
return NG; // <== Added
} // <== Added
printf("...done.");
return OK;
}
...
Typically, the GPIO pins need to be assigned according to pin numbering specific to the HW platform.
This typically requires changes to hcl_gpio.h
For example on an Raspberry Pi, the following changes to hcl_gpio.h with the following pin mapping:
Epson IMU Raspberry Pi
---------------------------------------------------
EPSON_RESET RPI_GPIO_P1_15 (GPIO22) Output
EPSON_DRDY RPI_GPIO_P1_18 (GPIO24) Input
...
// Prototypes for generic GPIO functions
int gpioInit(void);
int gpioRelease(void);
void gpioSet(uint8_t pin);
void gpioClr(uint8_t pin);
uint8_t gpioGetPinLevel(uint8_t pin);
#define RPI_GPIO_P1_15 22 // <== Added
#define RPI_GPIO_P1_18 24 // <== Added
#define EPSON_RESET RPI_GPIO_P1_15 // <== Added
#define EPSON_DRDY RPI_GPIO_P1_18 // <== Added
...
Typically, the external library will have GPIO pin control functions such as set_output, set_input, set, reset, read_pin_level, etc...
-
This requires changes to hcl_gpio.c
- Redirect function calls in hcl_gpio.c for gpioInit(), gpioRelease(), gpioSet(), gpioClr(), gpioGetPinLevel() to equivalent external library pin control functions.
- For example on an Raspberry Pi, the following changes to hcl_gpio.c:
#include "hcl.h"
#include "hcl_gpio.h"
#include <wiringPi.h> // <== Added external library
...
int gpioInit(void)
{
pinMode(EPSON_RESET, OUTPUT); // <== Added external call RESET Output Pin
pinMode(EPSON_DRDY, INPUT); // <== Added external call DRDY Input Pin
pullUpDnControl(EPSON_DRDY, PUD_OFF) ; // <== Added external call Disable any internal pullup or pulldown resistance
return OK;
}
...
int gpioRelease(void)
{
return OK;
}
...
void gpioSet(uint8_t pin)
{
digitalWrite(pin, HIGH); // <== Added external call set pin HIGH
}
...
void gpioClr(uint8_t pin)
{
digitalWrite(pin, LOW); // <== Added external call set pin LOW
}
...
uint8_t gpioGetPinLevel(uint8_t pin)
{
return (digitalRead(pin)); // <== Added external call to return pin state of input pin
}
...
How do I build, install, run this ROS1 package?
The Epson IMU ROS1 driver is designed to build in the ROS catkin build environment. Therefore, a functional catkin workspace in ROS1 is a prerequisite. Refer to the ROS1 Tutorials for more info: ROS1 Tutorial
For more information on ROS & catkin setup refer to Installing and Configuring ROS Environment.
- Place this package (including folders) into a new folder within your catkin workspace "src" folder. For example, we recommend using the folder name "ess_imu_ros1_uart_driver"
<catkin_workspace>/src/ess_imu_ros1_uart_driver/ <-- place files here
Modify the CMakeLists.txt to select the desired Epson IMU model that is attached to the ROS system. Refer to the comment lines inside the CMakeLists.txt for additional info. NOTE: You MUST re-build using catkin_make when changing IMU models or any changes in the CmakeLists.txt
From the catkin workspace folder run "catkin_make" to build all ROS1 packages located in the
/src/ folder. Re-run the above "catkin_make" command to rebuild the driver after making any changes to the CMakeLists.txt, any of the .c or .cpp or .h source files. NOTE: It is not necessary to "catkin_make" if changes are only made to the launch files. NOTE: It is recommended to change IMU settings by editing the parameters in the launch file, wherever possible, instead of modifying the .c or .cpp source files directly
<catkin_workspace>/catkin_make
- Reload the current ROS environment variables that may have changed after the catkin build process.
From the <catkin_workspace>: source devel/setup.bash
- Modify the appropriate launch file for the IMU model in the launch/ folder to set your desired IMU configure parameter options at runtime:
| Launch File Parameter | Comment |
|---|---|
| ext_sel | specifies the function of the GPIO2 (GPIO2, External Trigger, External Counter Reset) |
| ext_pol | specifies the polarity of the GPIO2 pin when External Trigger or External Counter Reset is selected |
| drdy_on | specifies to enable DRDY function on GPIO1 |
| drdy_pol | specifies the polarity of the DRDY input pin when enabled |
| dout_rate | specifies the IMU output data rate |
| filter_sel | specifies the IMU filter setting |
| flag_out | specifies to enable or disable ND_FLAG status in IMU output data (not used by ROS) |
| temp_out | specifies to enable or disable TempC sensor in IMU output data (not used by ROS) |
| gyro_out | specifies to enable or disable Gyro sensor in IMU output data (must be enabled) |
| accel_out | specifies to enable or disable Accl sensor in IMU output data (must be enabled) |
| gyro_delta_out | specifies to enable or disable DeltaAngle in IMU output data (not used by ROS) |
| accel_delta_out | specifies to enable or disable DeltaVelocity in IMU output data (not used by ROS) |
| qtn_out | specifies to enable or disable Quaternion in IMU output data (only support for G325/G365) |
| atti_out | specifies to enable or disable Attitude in IMU output data (not used by ROS) |
| gpio_out | specifies to enable or disable GPIO in IMU output data (not used by ROS) |
| count_out | specifies to enable or disable counter in IMU output data (must be enabled when time_correction is enabled) |
| checksum_out | specifies to enable or disable checksum in IMU output data (when enabled checksum errors are detected) |
| temp_bit | specifies to 16 or 32 bit resolution in TempC output data (not used by ROS) |
| gyro_bit | specifies to 16 or 32 bit resolution in Gyro output data |
| accel_bit | specifies to 16 or 32 bit resolution in Accl output data |
| gyro_delta_bit | specifies to 16 or 32 bit resolution in DeltaAngle output data (not used by ROS) |
| accel_delta_bit | specifies to 16 or 32 bit resolution in DeltaVelocity output data (not used by ROS) |
| qtn_bit | specifies to 16 or 32 bit resolution in Quaternion output data (only support for G325/G365) |
| invert_xgyro | specifies to reverse polarity of this sensor axis |
| invert_ygyro | specifies to reverse polarity of this sensor axis |
| invert_zgyro | specifies to reverse polarity of this sensor axis |
| invert_xaccel | specifies to reverse polarity of this sensor axis |
| invert_yaccel | specifies to reverse polarity of this sensor axis |
| invert_zaccel | specifies to reverse polarity of this sensor axis |
| atti_mode | specifies the attitude mode as 0=inclination or 1=euler (only support for G325/G365) |
| atti_profile | specifies the attitude motion profile (supported only for G325PDF1 or G365PDF1) |
| time_correction | enables time correction function using IMU counter reset function & external 1PPS connection to IMU GPIO2/EXT pin. Must have ext_sel=1 (external counter reset) |
NOTE: The ROS1 launch file passes IMU configuration settings to the IMU at runtime. Therefore does not need rebuilding with catkin when changing the launch file.
- To start the Epson IMU ROS1 driver use the appropriate launch file (located in launch/) from console. All parameters are described in the inline comments of the launch file. The launch file contains parameters for configuring settings at runtime.
For example, for the Epson G365 IMU:
<catkin_workspace>/roslaunch ess_imu_ros1_uart_driver epson_g325_g365.launch
| Launch File | Description |
|---|---|
| epson_g320_g354_g364.launch | For G320/G354/G364, outputs to ROS topic imu/data_raw (gyro, accel, but no quaternion orientation) |
| epson_g325_g365.launch | For G325PDF1/G365PDx1, outputs to ROS topic imu/data (gyro, accel data, including quaternion orientation) |
| epson_g325_g365_raw.launch | For G325PDF0/G365PDx0, outputs to ROS topic imu/data_raw (gyro, accel data, but no quaternion orientation) |
| epson_g370.launch | For G370, outputs to ROS topic imu/data_raw (gyro, accel, but no quaternion orientation) |
| epson_v340.launch | For V340, outputs to ROS topic imu/data_raw (gyro, accel, but no quaternion orientation) |
Example console output of catkin build for G370PDF1:
guest@guest-VirtualBox:~/catkin_ws$ catkin_make
Base path: /home/guest/catkin_ws
Source space: /home/guest/catkin_ws/src
Build space: /home/guest/catkin_ws/build
Devel space: /home/guest/catkin_ws/devel
Install space: /home/guest/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/guest/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/guest/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/noetic
-- This workspace overlays: /opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/guest/catkin_ws/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10")
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - ess_imu_ros1_uart_driver
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'beginner_tutorials'
-- ==> add_subdirectory(beginner_tutorials)
-- +++ processing catkin package: 'ess_imu_ros1_uart_driver'
-- ==> add_subdirectory(ess_imu_ros1_uart_driver)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
---- Building for IMU Model: G370PDF1
-- Configuring done
-- Generating done
-- Build files have been written to: /home/guest/catkin_ws/build
####
#### Running command: "make -j1 -l1" in "/home/guest/catkin_ws/build"
####
Scanning dependencies of target ess_imu_ros1_uart_driver_lib
[ 11%] Building C object ess_imu_ros1_uart_driver/CMakeFiles/ess_imu_ros1_uart_driver_lib.dir/src/hcl_gpio.c.o
[ 22%] Building C object ess_imu_ros1_uart_driver/CMakeFiles/ess_imu_ros1_uart_driver_lib.dir/src/hcl_linux.c.o
[ 33%] Building C object ess_imu_ros1_uart_driver/CMakeFiles/ess_imu_ros1_uart_driver_lib.dir/src/hcl_uart.c.o
[ 44%] Building C object ess_imu_ros1_uart_driver/CMakeFiles/ess_imu_ros1_uart_driver_lib.dir/src/sensor_epsonCommon.c.o
[ 55%] Building C object ess_imu_ros1_uart_driver/CMakeFiles/ess_imu_ros1_uart_driver_lib.dir/src/sensor_epsonUart.c.o
[ 66%] Building C object ess_imu_ros1_uart_driver/CMakeFiles/ess_imu_ros1_uart_driver_lib.dir/src/sensor_epsonG370.c.o
[ 77%] Linking C shared library /home/guest/catkin_ws/devel/lib/libess_imu_ros1_uart_driver_lib.so
[ 77%] Built target ess_imu_ros1_uart_driver_lib
Scanning dependencies of target ess_imu_ros1_uart_driver_node
[ 88%] Building CXX object ess_imu_ros1_uart_driver/CMakeFiles/ess_imu_ros1_uart_driver_node.dir/src/epson_imu_uart_driver_node.cpp.o
[100%] Linking CXX executable /home/guest/catkin_ws/devel/lib/ess_imu_ros1_uart_driver/ess_imu_ros1_uart_driver_node
user@user-VirtualBox:~/catkin_ws$
Example console output of launching ROS1 node for G370PDF1:
guest@guest-VirtualBox:~/catkin_ws$ roslaunch ess_imu_ros1_uart_driver epson_g370.launch
... logging to /home/guest/.ros/log/2c19a2fa-09de-11ed-b9c7-1dd2c95e9576/roslaunch-guest-VirtualBox-68073.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://guest-VirtualBox:33993/
SUMMARY
========
PARAMETERS
* /ess_imu_ros1_uart_driver_node/accel_bit: 1
* /ess_imu_ros1_uart_driver_node/accel_delta_bit: 1
* /ess_imu_ros1_uart_driver_node/accel_delta_out: 0
* /ess_imu_ros1_uart_driver_node/accel_out: 1
* /ess_imu_ros1_uart_driver_node/atti_bit: 1
* /ess_imu_ros1_uart_driver_node/atti_out: 0
* /ess_imu_ros1_uart_driver_node/checksum_out: 1
* /ess_imu_ros1_uart_driver_node/count_out: 1
* /ess_imu_ros1_uart_driver_node/dout_rate: 9
* /ess_imu_ros1_uart_driver_node/drdy_on: 0
* /ess_imu_ros1_uart_driver_node/drdy_pol: 0
* /ess_imu_ros1_uart_driver_node/ext_pol: 0
* /ess_imu_ros1_uart_driver_node/ext_sel: 0
* /ess_imu_ros1_uart_driver_node/filter_sel: 9
* /ess_imu_ros1_uart_driver_node/flag_out: 1
* /ess_imu_ros1_uart_driver_node/gpio_out: 0
* /ess_imu_ros1_uart_driver_node/gyro_bit: 1
* /ess_imu_ros1_uart_driver_node/gyro_delta_bit: 1
* /ess_imu_ros1_uart_driver_node/gyro_delta_out: 0
* /ess_imu_ros1_uart_driver_node/gyro_out: 1
* /ess_imu_ros1_uart_driver_node/invert_xaccel: 0
* /ess_imu_ros1_uart_driver_node/invert_xgyro: 0
* /ess_imu_ros1_uart_driver_node/invert_yaccel: 0
* /ess_imu_ros1_uart_driver_node/invert_ygyro: 0
* /ess_imu_ros1_uart_driver_node/invert_zaccel: 0
* /ess_imu_ros1_uart_driver_node/invert_zgyro: 0
* /ess_imu_ros1_uart_driver_node/port: /dev/ttyUSB0
* /ess_imu_ros1_uart_driver_node/temp_bit: 1
* /ess_imu_ros1_uart_driver_node/temp_out: 1
* /ess_imu_ros1_uart_driver_node/time_correction: 0
* /rosdistro: noetic
* /rosversion: 1.15.14
NODES
/
ess_imu_ros1_uart_driver_node (ess_imu_ros1_uart_driver/ess_imu_ros1_uart_driver_node)
auto-starting new master
process[master]: started with pid [68081]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 2c19a2fa-09de-11ed-b9c7-1dd2c95e9576
process[rosout-1]: started with pid [68091]
started core service [/rosout]
process[ess_imu_ros1_uart_driver_node-2]: started with pid [68098]
[ INFO] [1658508535.570966373]: Initializing HCL layer...
[ INFO] [1658508535.573199394]: Initializing GPIO interface...
[ INFO] [1658508535.573240446]: Initializing UART interface...
Attempting to open port.../dev/ttyUSB0
...sensorDummyWrite.[ INFO] [1658508535.846582632]: Checking sensor NOT_READY status...
...done.[ INFO] [1658508536.709401928]: Initializing Sensor...
[ INFO] [1658508536.789099009]: PRODUCT ID: G370PDF1
[ INFO] [1658508536.856388807]: SERIAL ID: X0000002
...Sensor start.[ INFO] [1658508536.859844867]: Quaternion Output: Native.
What does this ROS1 IMU Node Publish as messages?
The Epson IMU ROS1 driver will publish IMU messages as convention per REP 145.
- For IMU models such as G320/G354/G364/G370/V340, the IMU messages will only update the fields for angular rate (gyro) and linear acceleration (accel) data.
- For IMU models G325/G365, it depends on the enabling/disabling of the internal attitude function with quaternion output:
- IMU messages will only update angular rate (gyro) and linear acceleration (accel) fields when quaternion output is disabled
- IMU messages will also update the orientation field using the internal extended Kalman Filter when the quaternion output is enabled
Without Quaternion Output
- When quaternion output is disabled or for non-quaternion output models, the ROS1 driver will publish to ROS topic /epson_imu/data_raw
- However, the launch file will remap the message to publish on ROS topic /imu/data_raw
ROS Topic Message data_raw
---
header:
seq: 34983
stamp:
secs: 1601590579
nsecs: 771273325
frame_id: "imu_link"
orientation:
x: 2.4786295434e+33
y: 1.1713334935e+38
z: 1.17130631507e+38
w: 1.17130956026e+38
orientation_covariance: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: 0.00435450254008
y: 0.000734272529371
z: -9.40820464166e-05
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
x: -0.730921983719
y: -1.54766368866
z: 9.72711181641
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
With Quaternion Output
- When quaternion output is enabled, the ROS1 driver will publish to ROS topic /epson_imu/raw
- However, the launch file will remap the message to publish to ROS topic /imu/raw
ROS Topic Message data
---
header:
seq: 10608
stamp:
secs: 1601575987
nsecs: 673387357
frame_id: "imu_link"
orientation:
x: -0.0801454782486
y: 0.0367396138608
z: 0.00587898213416
w: 0.996088504791
orientation_covariance: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: -0.00118702522013
y: 0.000320095219649
z: -0.00014466587163
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
x: -0.727666378021
y: -1.5646469593
z: 9.69056034088
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
Why am I seeing high latencies or slower than expected IMU data rates when using USB-UART bridges?
- If your connection between the Epson IMU UART and the Linux host is by FTDI (or similar USB-UART bridge devices, the default latency_timer setting may be too large (i.e. typically 16msec).
- It is recommended to set the USB latency timer to 1msec to minimize latency issues.
Modifying latency_timer by sysfs mechanism
The example below reads the latency_timer setting for /dev/ttyUSB0 which returns 16msec. Then, the latency_timer is set to 1msec, and confirmed by readback.
NOTE: May require root (sudo su) access on your system to modify.
cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
16
echo 1 > /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
1
Modifying low_latency flag using setserial utility
The example below sets the low_latency flag for /dev/ttyUSB0. This will have the same effect as setting the latency_timer to 1msec. This can be confirmed by running the setserial command again.
user@user-VirtualBox:~$ setserial /dev/ttyUSB0
/dev/ttyUSB0, UART: unknown, Port: 0x0000, IRQ: 0
user@user-VirtualBox:~$ setserial /dev/ttyUSB0 low_latency
user@user-VirtualBox:~$ setserial /dev/ttyUSB0
/dev/ttyUSB0, UART: unknown, Port: 0x0000, IRQ: 0, Flags: low_latency
Package Contents
The Epson IMU ROS1 driver-related sub-folders & root files are:
launch/ <== various example launch files for Epson IMU models
src/ <== source code for ROS node C++ wrapper, IMU C driver, and additional README_src.md specifically for buidling and using the IMU C driver alone (without ROS support)
CMakeLists.txt <== build script for catkin_make
LICENSE.txt <== description of the applicable licenses
package.xml <== catkin package description
README.md <== general README for the ROS1 driver
Other subfolders are supplemental:
jetson/ <== This README_jetson.md file related to using the ROS driver on Jetson TK1
visual <== example python2 3D visualizer using the deprecated python-visual library
The visual/ folder contains a 2 modified ROS Python2-based 3D visualization nodes taken from ROS razor_imu_9dof Refer to the README_visual.md in the visual folder for more info.
Generating Orientation from Gyroscope & Accelerometer Messages
In many cases, the ROS system needs fused orientation data, but there are Epson IMU models that do not have quaternion output function. In such cases, it is possible to use other opensource ROS packages to subscribe to gyro & accelerometer messages --> post-process --> publish fused orientation messages.
Some examples that have been briefly tested are: - ROS imu_filter_madgwick - ROS imu_complementary_filter
NOTE:
The Epson IMU ROS Driver node needs to be correctly started and publishing before starting the other filter package nodes.
imu_filter_madgwick usage notes
- Modify the imu_filter_madgwick/cfg/ImuFilterMadwick.cfg
- modified with "gain" set to 0.01
- Modify the imu_filter_madgwick/src/imu_filter_ros.cpp
- modified with "use_mag_" set to "false"
- modified with "publish_debug_topics_" set to "true", for debugging only
- modified with "world_frame" set to "enu"
- Build the package using catkin_make
- Run the package using rosrun
Below is an example of the console output of properly run imu_filter_madgwick node using rosrun:
user@user-VirtualBox:~$ rosrun imu_filter_madgwick imu_filter_node
[ INFO] [1562357562.704539235]: Starting ImuFilter
[ WARN] [1562357562.711807728]: Deprecation Warning: The parameter world_frame was not set, default is 'nwu'.
[ WARN] [1562357562.711846440]: Starting with ROS Lunar, world_frame will default to 'enu'!
[ INFO] [1562357562.711872116]: Using dt computed from message headers
[ INFO] [1562357562.740226610]: Imu filter gain set to 0.010000
[ INFO] [1562357562.740303616]: Gyro drift bias set to 0.000000
[ INFO] [1562357562.740360807]: Magnetometer bias values: 0.000000 0.000000 0.000000
[ INFO] [1562357562.913838393]: First IMU message received.
imu_complementary_filter usage notes
- Build the package using catkin_make
- Modify the imu_complementary_filter/launch/complementary_filter.launch
- delete section "IMU Driver", since the Epson IMU driver will provide the driver services
- set "do_bias_estimation" to "false" to disable software bias estimation using thresholding
- set "use_mag" to "false", since Epson IMUs do not have magnetometers
- set "publish_tf" to "true", for debugging only
- set "publish_debug_topics" to "true", for debugging only
- Launch the package using roslaunch
Below is an example of the console output of properly launched imu_complementary_filter node:
user@user-VirtualBox:~$ roslaunch imu_complementary_filter complementary_filter.launch
... logging to /home/user/.ros/log/371870a4-9f52-11e9-a5ed-0800277645e4/roslaunch-user-VirtualBox-11435.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://user-VirtualBox:36627/
SUMMARY
========
PARAMETERS
* /complementary_filter_gain_node/do_adaptive_gain: True
* /complementary_filter_gain_node/do_bias_estimation: False
* /complementary_filter_gain_node/gain_acc: 0.01
* /complementary_filter_gain_node/gain_mag: 0.01
* /complementary_filter_gain_node/publish_debug_topics: True
* /complementary_filter_gain_node/publish_tf: True
* /complementary_filter_gain_node/use_mag: False
* /rosdistro: indigo
* /rosversion: 1.11.20
NODES
/
complementary_filter_gain_node (imu_complementary_filter/complementary_filter_node)
imu_manager (nodelet/nodelet)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[imu_manager-1]: started with pid [11453]
process[complementary_filter_gain_node-2]: started with pid [11454]
[ INFO] [1562357391.925090075]: Starting ComplementaryFilterROS
[ INFO] [1562357392.018532806]: Initializing nodelet with 2 worker threads.
License
Refer to LICENSE.txt in this package
References
CONTRIBUTING
No CONTRIBUTING.md found.
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