mrpt_sensors repository

mrpt_generic_sensor mrpt_sensor_bumblebee_stereo mrpt_sensor_gnss_nmea mrpt_sensor_gnss_novatel mrpt_sensor_imu_taobotics mrpt_sensorlib mrpt_sensors

Repository Summary

Checkout URI	https://github.com/mrpt-ros-pkg/mrpt_sensors.git
VCS Type	git
VCS Version	ros2
Last Updated	2024-09-01
Dev Status	DEVELOPED
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
mrpt_generic_sensor	0.2.3
mrpt_sensor_bumblebee_stereo	0.2.3
mrpt_sensor_gnss_nmea	0.2.3
mrpt_sensor_gnss_novatel	0.2.3
mrpt_sensor_imu_taobotics	0.2.3
mrpt_sensorlib	0.2.3
mrpt_sensors	0.2.3

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Iron (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Rolling (u24.04)

mrpt_sensors

ROS nodes for various robotics sensors via mrpt-hwdrivers.

All packages follow REP-2003 regarding ROS 2 topic QoS.

`mrpt_sensor_bumblebee_stereo`

ROS 2 node for Bumblebee Stereo Cameras using libdc1394 interface.

Supported models: Bumblebee2 stereo cameras with FireWire connection.

# INSTALL:
sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-bumblebee-stereo

# Launch to test it:
ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py

Launch arguments

```yaml ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"80"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of type sensor_msg/Image will be published to this topic (plus suffix "_left"/"_right") for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'sensor') 'robot_frame_id': The robot frame_id name. Used to publish the sensor pose to /tf. (default: 'base_link') 'dc1394_framerate': eg: 7.5, 15, 30, 60, etc... For possibilities see mrpt::hwdrivers::TCaptureOptions_dc1394 (default: '"15"') 'dc1394_camera_guid': 0 (or not present): the first camera. A hexadecimal number (0x11223344): The GUID of the camera to open (default: '"0"') 'camera_preview_decimation': N<=0 (or not present): No preview; N>0, display 1 out of N captured frames. (default: '"0"') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_yaw': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'sensor_pose_pitch': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'sensor_pose_roll': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'log_level': Logging level (default: 'INFO') ``` </details> # `mrpt_sensor_gnss_nmea` Supported models: any GPS/GNSS sensor emiting NMEA messages via a serial/USB port. ```bash # INSTALL: sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-gnss-nmea ``` ```bash # Launch to test it: ros2 launch mrpt_sensor_gnss_nmea mrpt_sensor_gnss_nmea.launch.py serial_port:=/dev/ttyACM0 publish_topic:="/gps" ``` Parsed messages (via [mrpt::hwdrivers::CGPSInterface](https://docs.mrpt.org/reference/latest/class_mrpt_hwdrivers_CGPSInterface.html)): - NMEA_GGA - NMEA_GLL - NMEA_GSA - NMEA_GSV - NMEA_MSS - NMEA_RMC - NMEA_VTG - NMEA_ZDA

Launch arguments

```yaml ros2 launch mrpt_sensor_gnss_nmea mrpt_sensor_gnss_nmea.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"50"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of the appropriate type will be published to this topic for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'sensor') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'serial_port': Serial port to open (default: '') 'serial_baud_rate': Serial port baud rate (typ: 4800, 9600, etc.) (default: '"4800"') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'log_level': Logging level (default: 'INFO') ``` </details> # `mrpt_sensor_gnss_novatel` ROS node for GNSS/IMU Novatel receivers with RTK precision using an NTRIP HTTP source. This node actually launches two mrpt::hwdrivers sensors: - mrpt::hwdrivers::CGPSInterface for the Novatel GNSS/INS device, and - mrpt::hwdrivers::CNTRIPEmitter to connect to a remove NTRIP source and emit the received corrections via a serial port. Thus, you need to specify several mandatory ros launch arguments to make this node to work, including the Novatel serial (USB) ports, the NTRIP server configuration, etc. Supported models: Novatel OEM6 ```bash # INSTALL: sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-gnss-novatel ``` ```bash # Launch to test it: ros2 launch mrpt_sensor_gnss_novatel mrpt_sensor_gnss_novatel.launch.py \ publish_topic:="/gps_novatel" \ publish_mrpt_obs_topic:="/gps_novatel_mrpt" \ sensor_frame_id:="novatel" \ sensor_label:="novatel" \ novatel_main_serial_port:="/dev/serial/by-id/usb-Novatel_Inc._Novatel_GPS_Receiver_BJYA15400456J-if00-port0" \ novatel_ntrip_serial_port:="/dev/serial/by-id/usb-Novatel_Inc._Novatel_GPS_Receiver_BJYA15400456J-if00-port2" \ ntrip_server:="www.euref-ip.net" \ ntrip_port:="\"2101\"" \ ntrip_mount_point:="ALME00ESP0" \ ntrip_user:="user" \ ntrip_password:="pass" \ novatel_init_azimuth:="0.0 25.0" ```

Launch arguments

```yaml ros2 launch mrpt_sensor_gnss_novatel mrpt_sensor_gnss_novatel.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"50"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of the appropriate type will be published to this topic for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'sensor') 'robot_frame_id': The robot frame_id name. Used to publish the sensor pose to /tf. (default: 'base_link') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'novatel_main_serial_port': Main Novatel comms port (default: '') 'serial_baud_rate': Serial port baud rate (typ: 4800, 9600, etc.) (default: '"4800"') 'raw_dump_file': If not empty, raw GNSS data will be dumped to this file. (default: '""') 'novatel_imu_orientation': See Novatel docs for SETIMUORIENTATION. (default: '"6"') 'novatel_veh_body_rotation': See Novatel docs for VEHICLEBODYROTATION. (default: '"0.000000 0.000000 90.000000 0.000000 0.000000 0.000000"') 'novatel_imu_to_ant_offset': See Novatel docs for SETIMUTOANTOFFSET. (default: '"-0.28 -0.08 -0.01 0.000000 0.000000 0.000000"') 'novatel_ins_offset': See Novatel docs for SETINSOFFSET. (default: '"0.000000 0.000000 0.000000"') 'novatel_init_azimuth': See Novatel docs for SETINITAZIMUTH. (default: '"0.000000 25.000000"') 'ntrip_server': DNS or IP of the NTRIP server. (default: '"www.euref-ip.net"') 'ntrip_port': TCP port for connecting to the NTRIP server. (default: '"2101"') 'ntrip_mount_point': Mount point to connect inside the NTRIP server. (default: '"ALME00ESP0"') 'ntrip_user': NTRIP server username. (default: '""') 'ntrip_password': NTRIP server password. (default: '""') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'log_level': Logging level (default: 'INFO') ``` </details> # `mrpt_sensor_imu_taobotics` Supported models: `hfi-b6`, `hfi-a9` ```bash # INSTALL: sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-imu-taobotics ``` ```bash # Launch to test it: ros2 launch mrpt_sensor_imu_taobotics mrpt_sensor_imu_taobotics.launch.py serial_port:=/dev/ttyUSB0 ```

Launch arguments

```yaml ros2 launch mrpt_sensor_imu_taobotics mrpt_sensor_imu_taobotics.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"500"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of type sensor_msg/Image will be published to this topic (plus suffix "_left"/"_right") for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'imu') 'robot_frame_id': The robot frame_id name. Used to publish the sensor pose to /tf. (default: 'base_link') 'serial_port': Serial port device to open, e.g. /dev/ttyUSB0 'sensor_model': Sensor model, needed to parse its binary frame protocol. Supported devices (check mrpt::hwdrivers::CTaoboticsIMU) at present are: (hfi-b6|hfi-a9) (default: '"hfi-a9"') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_yaw': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'sensor_pose_pitch': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'sensor_pose_roll': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'log_level': Logging level (default: 'INFO') ``` </details> # `mrpt_sensor_velodyne` Supported models: `VLP16`,`HDL32`,`HDL64` ```bash ros2 launch mrpt_sensors velodyne.launch.py ``` TODO: Document and explain parameters. # Individual package build status | Package | ROS 2 Humble
BinBuild | ROS 2 Iron
BinBuild | ROS 2 Jazzy
BinBuild | ROS 2 Rolling
BinBuild | | --- | --- | --- | --- |--- | | mrpt_generic_sensor | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mrpt_generic_sensor__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mrpt_generic_sensor__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__mrpt_generic_sensor__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__mrpt_generic_sensor__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mrpt_generic_sensor__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mrpt_generic_sensor__ubuntu_noble_amd64__binary/) |[![Build Status](https://build.ros2.org/job/Rbin_uN64__mrpt_generic_sensor__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mrpt_generic_sensor__ubuntu_noble_amd64__binary/) | | mrpt_sensor_bumblebee_stereo | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mrpt_sensor_bumblebee_stereo__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mrpt_sensor_bumblebee_stereo__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__mrpt_sensor_bumblebee_stereo__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__mrpt_sensor_bumblebee_stereo__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mrpt_sensor_bumblebee_stereo__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mrpt_sensor_bumblebee_stereo__ubuntu_noble_amd64__binary/) |[![Build Status](https://build.ros2.org/job/Rbin_uN64__mrpt_sensor_bumblebee_stereo__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mrpt_sensor_bumblebee_stereo__ubuntu_noble_amd64__binary/) | | mrpt_sensor_gnss_nmea | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mrpt_sensor_gnss_nmea__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mrpt_sensor_gnss_nmea__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__mrpt_sensor_gnss_nmea__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__mrpt_sensor_gnss_nmea__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mrpt_sensor_gnss_nmea__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mrpt_sensor_gnss_nmea__ubuntu_noble_amd64__binary/) |[![Build Status](https://build.ros2.org/job/Rbin_uN64__mrpt_sensor_gnss_nmea__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mrpt_sensor_gnss_nmea__ubuntu_noble_amd64__binary/) | | mrpt_sensor_imu_taobotics | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mrpt_sensor_imu_taobotics__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mrpt_sensor_imu_taobotics__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__mrpt_sensor_imu_taobotics__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__mrpt_sensor_imu_taobotics__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mrpt_sensor_imu_taobotics__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mrpt_sensor_imu_taobotics__ubuntu_noble_amd64__binary/) |[![Build Status](https://build.ros2.org/job/Rbin_uN64__mrpt_sensor_imu_taobotics__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mrpt_sensor_imu_taobotics__ubuntu_noble_amd64__binary/) | | mrpt_sensorlib | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mrpt_sensorlib__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mrpt_sensorlib__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__mrpt_sensorlib__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__mrpt_sensorlib__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mrpt_sensorlib__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mrpt_sensorlib__ubuntu_noble_amd64__binary/) |[![Build Status](https://build.ros2.org/job/Rbin_uN64__mrpt_sensorlib__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mrpt_sensorlib__ubuntu_noble_amd64__binary/) | | mrpt_sensors | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mrpt_sensors__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mrpt_sensors__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__mrpt_sensors__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__mrpt_sensors__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mrpt_sensors__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mrpt_sensors__ubuntu_noble_amd64__binary/) |[![Build Status](https://build.ros2.org/job/Rbin_uN64__mrpt_sensors__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mrpt_sensors__ubuntu_noble_amd64__binary/) |

CONTRIBUTING

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mrpt_sensors repository

mrpt_generic_sensor mrpt_sensor_bumblebee_stereo mrpt_sensor_gnss_nmea mrpt_sensor_gnss_novatel mrpt_sensor_imu_taobotics mrpt_sensorlib mrpt_sensors

Repository Summary

Checkout URI	https://github.com/mrpt-ros-pkg/mrpt_sensors.git
VCS Type	git
VCS Version	ros2
Last Updated	2024-09-01
Dev Status	DEVELOPED
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
mrpt_generic_sensor	0.2.3
mrpt_sensor_bumblebee_stereo	0.2.3
mrpt_sensor_gnss_nmea	0.2.3
mrpt_sensor_gnss_novatel	0.2.3
mrpt_sensor_imu_taobotics	0.2.3
mrpt_sensorlib	0.2.3
mrpt_sensors	0.2.3

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Iron (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Rolling (u24.04)

mrpt_sensors

ROS nodes for various robotics sensors via mrpt-hwdrivers.

All packages follow REP-2003 regarding ROS 2 topic QoS.

`mrpt_sensor_bumblebee_stereo`

ROS 2 node for Bumblebee Stereo Cameras using libdc1394 interface.

Supported models: Bumblebee2 stereo cameras with FireWire connection.

# INSTALL:
sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-bumblebee-stereo

# Launch to test it:
ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py

Launch arguments

```yaml ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"80"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of type sensor_msg/Image will be published to this topic (plus suffix "_left"/"_right") for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'sensor') 'robot_frame_id': The robot frame_id name. Used to publish the sensor pose to /tf. (default: 'base_link') 'dc1394_framerate': eg: 7.5, 15, 30, 60, etc... For possibilities see mrpt::hwdrivers::TCaptureOptions_dc1394 (default: '"15"') 'dc1394_camera_guid': 0 (or not present): the first camera. A hexadecimal number (0x11223344): The GUID of the camera to open (default: '"0"') 'camera_preview_decimation': N<=0 (or not present): No preview; N>0, display 1 out of N captured frames. (default: '"0"') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_yaw': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'sensor_pose_pitch': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'sensor_pose_roll': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'log_level': Logging level (default: 'INFO') ``` </details> # `mrpt_sensor_gnss_nmea` Supported models: any GPS/GNSS sensor emiting NMEA messages via a serial/USB port. ```bash # INSTALL: sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-gnss-nmea ``` ```bash # Launch to test it: ros2 launch mrpt_sensor_gnss_nmea mrpt_sensor_gnss_nmea.launch.py serial_port:=/dev/ttyACM0 publish_topic:="/gps" ``` Parsed messages (via [mrpt::hwdrivers::CGPSInterface](https://docs.mrpt.org/reference/latest/class_mrpt_hwdrivers_CGPSInterface.html)): - NMEA_GGA - NMEA_GLL - NMEA_GSA - NMEA_GSV - NMEA_MSS - NMEA_RMC - NMEA_VTG - NMEA_ZDA

Launch arguments

```yaml ros2 launch mrpt_sensor_gnss_nmea mrpt_sensor_gnss_nmea.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"50"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of the appropriate type will be published to this topic for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'sensor') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'serial_port': Serial port to open (default: '') 'serial_baud_rate': Serial port baud rate (typ: 4800, 9600, etc.) (default: '"4800"') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'log_level': Logging level (default: 'INFO') ``` </details> # `mrpt_sensor_gnss_novatel` ROS node for GNSS/IMU Novatel receivers with RTK precision using an NTRIP HTTP source. This node actually launches two mrpt::hwdrivers sensors: - mrpt::hwdrivers::CGPSInterface for the Novatel GNSS/INS device, and - mrpt::hwdrivers::CNTRIPEmitter to connect to a remove NTRIP source and emit the received corrections via a serial port. Thus, you need to specify several mandatory ros launch arguments to make this node to work, including the Novatel serial (USB) ports, the NTRIP server configuration, etc. Supported models: Novatel OEM6 ```bash # INSTALL: sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-gnss-novatel ``` ```bash # Launch to test it: ros2 launch mrpt_sensor_gnss_novatel mrpt_sensor_gnss_novatel.launch.py \ publish_topic:="/gps_novatel" \ publish_mrpt_obs_topic:="/gps_novatel_mrpt" \ sensor_frame_id:="novatel" \ sensor_label:="novatel" \ novatel_main_serial_port:="/dev/serial/by-id/usb-Novatel_Inc._Novatel_GPS_Receiver_BJYA15400456J-if00-port0" \ novatel_ntrip_serial_port:="/dev/serial/by-id/usb-Novatel_Inc._Novatel_GPS_Receiver_BJYA15400456J-if00-port2" \ ntrip_server:="www.euref-ip.net" \ ntrip_port:="\"2101\"" \ ntrip_mount_point:="ALME00ESP0" \ ntrip_user:="user" \ ntrip_password:="pass" \ novatel_init_azimuth:="0.0 25.0" ```

Launch arguments

```yaml ros2 launch mrpt_sensor_gnss_novatel mrpt_sensor_gnss_novatel.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"50"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of the appropriate type will be published to this topic for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'sensor') 'robot_frame_id': The robot frame_id name. Used to publish the sensor pose to /tf. (default: 'base_link') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'novatel_main_serial_port': Main Novatel comms port (default: '') 'serial_baud_rate': Serial port baud rate (typ: 4800, 9600, etc.) (default: '"4800"') 'raw_dump_file': If not empty, raw GNSS data will be dumped to this file. (default: '""') 'novatel_imu_orientation': See Novatel docs for SETIMUORIENTATION. (default: '"6"') 'novatel_veh_body_rotation': See Novatel docs for VEHICLEBODYROTATION. (default: '"0.000000 0.000000 90.000000 0.000000 0.000000 0.000000"') 'novatel_imu_to_ant_offset': See Novatel docs for SETIMUTOANTOFFSET. (default: '"-0.28 -0.08 -0.01 0.000000 0.000000 0.000000"') 'novatel_ins_offset': See Novatel docs for SETINSOFFSET. (default: '"0.000000 0.000000 0.000000"') 'novatel_init_azimuth': See Novatel docs for SETINITAZIMUTH. (default: '"0.000000 25.000000"') 'ntrip_server': DNS or IP of the NTRIP server. (default: '"www.euref-ip.net"') 'ntrip_port': TCP port for connecting to the NTRIP server. (default: '"2101"') 'ntrip_mount_point': Mount point to connect inside the NTRIP server. (default: '"ALME00ESP0"') 'ntrip_user': NTRIP server username. (default: '""') 'ntrip_password': NTRIP server password. (default: '""') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'log_level': Logging level (default: 'INFO') ``` </details> # `mrpt_sensor_imu_taobotics` Supported models: `hfi-b6`, `hfi-a9` ```bash # INSTALL: sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-imu-taobotics ``` ```bash # Launch to test it: ros2 launch mrpt_sensor_imu_taobotics mrpt_sensor_imu_taobotics.launch.py serial_port:=/dev/ttyUSB0 ```

Launch arguments

```yaml ros2 launch mrpt_sensor_imu_taobotics mrpt_sensor_imu_taobotics.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"500"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of type sensor_msg/Image will be published to this topic (plus suffix "_left"/"_right") for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'imu') 'robot_frame_id': The robot frame_id name. Used to publish the sensor pose to /tf. (default: 'base_link') 'serial_port': Serial port device to open, e.g. /dev/ttyUSB0 'sensor_model': Sensor model, needed to parse its binary frame protocol. Supported devices (check mrpt::hwdrivers::CTaoboticsIMU) at present are: (hfi-b6|hfi-a9) (default: '"hfi-a9"') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_yaw': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'sensor_pose_pitch': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'sensor_pose_roll': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'log_level': Logging level (default: 'INFO') ``` </details> # `mrpt_sensor_velodyne` Supported models: `VLP16`,`HDL32`,`HDL64` ```bash ros2 launch mrpt_sensors velodyne.launch.py ``` TODO: Document and explain parameters. # Individual package build status | Package | ROS 2 Humble
BinBuild | ROS 2 Iron
BinBuild | ROS 2 Jazzy
BinBuild | ROS 2 Rolling
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mrpt_sensors repository

mrpt_generic_sensor mrpt_sensor_bumblebee_stereo mrpt_sensor_gnss_nmea mrpt_sensor_gnss_novatel mrpt_sensor_imu_taobotics mrpt_sensorlib mrpt_sensors

Repository Summary

Checkout URI	https://github.com/mrpt-ros-pkg/mrpt_sensors.git
VCS Type	git
VCS Version	ros2
Last Updated	2024-09-01
Dev Status	DEVELOPED
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
mrpt_generic_sensor	0.2.3
mrpt_sensor_bumblebee_stereo	0.2.3
mrpt_sensor_gnss_nmea	0.2.3
mrpt_sensor_gnss_novatel	0.2.3
mrpt_sensor_imu_taobotics	0.2.3
mrpt_sensorlib	0.2.3
mrpt_sensors	0.2.3

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Iron (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Rolling (u24.04)

mrpt_sensors

ROS nodes for various robotics sensors via mrpt-hwdrivers.

All packages follow REP-2003 regarding ROS 2 topic QoS.

`mrpt_sensor_bumblebee_stereo`

ROS 2 node for Bumblebee Stereo Cameras using libdc1394 interface.

Supported models: Bumblebee2 stereo cameras with FireWire connection.

# INSTALL:
sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-bumblebee-stereo

# Launch to test it:
ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py

Launch arguments

```yaml ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"80"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of type sensor_msg/Image will be published to this topic (plus suffix "_left"/"_right") for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'sensor') 'robot_frame_id': The robot frame_id name. Used to publish the sensor pose to /tf. (default: 'base_link') 'dc1394_framerate': eg: 7.5, 15, 30, 60, etc... For possibilities see mrpt::hwdrivers::TCaptureOptions_dc1394 (default: '"15"') 'dc1394_camera_guid': 0 (or not present): the first camera. A hexadecimal number (0x11223344): The GUID of the camera to open (default: '"0"') 'camera_preview_decimation': N<=0 (or not present): No preview; N>0, display 1 out of N captured frames. (default: '"0"') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_yaw': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'sensor_pose_pitch': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'sensor_pose_roll': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'log_level': Logging level (default: 'INFO') ``` </details> # `mrpt_sensor_gnss_nmea` Supported models: any GPS/GNSS sensor emiting NMEA messages via a serial/USB port. ```bash # INSTALL: sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-gnss-nmea ``` ```bash # Launch to test it: ros2 launch mrpt_sensor_gnss_nmea mrpt_sensor_gnss_nmea.launch.py serial_port:=/dev/ttyACM0 publish_topic:="/gps" ``` Parsed messages (via [mrpt::hwdrivers::CGPSInterface](https://docs.mrpt.org/reference/latest/class_mrpt_hwdrivers_CGPSInterface.html)): - NMEA_GGA - NMEA_GLL - NMEA_GSA - NMEA_GSV - NMEA_MSS - NMEA_RMC - NMEA_VTG - NMEA_ZDA

Launch arguments

```yaml ros2 launch mrpt_sensor_gnss_nmea mrpt_sensor_gnss_nmea.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"50"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of the appropriate type will be published to this topic for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'sensor') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'serial_port': Serial port to open (default: '') 'serial_baud_rate': Serial port baud rate (typ: 4800, 9600, etc.) (default: '"4800"') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'log_level': Logging level (default: 'INFO') ``` </details> # `mrpt_sensor_gnss_novatel` ROS node for GNSS/IMU Novatel receivers with RTK precision using an NTRIP HTTP source. This node actually launches two mrpt::hwdrivers sensors: - mrpt::hwdrivers::CGPSInterface for the Novatel GNSS/INS device, and - mrpt::hwdrivers::CNTRIPEmitter to connect to a remove NTRIP source and emit the received corrections via a serial port. Thus, you need to specify several mandatory ros launch arguments to make this node to work, including the Novatel serial (USB) ports, the NTRIP server configuration, etc. Supported models: Novatel OEM6 ```bash # INSTALL: sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-gnss-novatel ``` ```bash # Launch to test it: ros2 launch mrpt_sensor_gnss_novatel mrpt_sensor_gnss_novatel.launch.py \ publish_topic:="/gps_novatel" \ publish_mrpt_obs_topic:="/gps_novatel_mrpt" \ sensor_frame_id:="novatel" \ sensor_label:="novatel" \ novatel_main_serial_port:="/dev/serial/by-id/usb-Novatel_Inc._Novatel_GPS_Receiver_BJYA15400456J-if00-port0" \ novatel_ntrip_serial_port:="/dev/serial/by-id/usb-Novatel_Inc._Novatel_GPS_Receiver_BJYA15400456J-if00-port2" \ ntrip_server:="www.euref-ip.net" \ ntrip_port:="\"2101\"" \ ntrip_mount_point:="ALME00ESP0" \ ntrip_user:="user" \ ntrip_password:="pass" \ novatel_init_azimuth:="0.0 25.0" ```

Launch arguments

```yaml ros2 launch mrpt_sensor_gnss_novatel mrpt_sensor_gnss_novatel.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"50"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of the appropriate type will be published to this topic for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'sensor') 'robot_frame_id': The robot frame_id name. Used to publish the sensor pose to /tf. (default: 'base_link') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'novatel_main_serial_port': Main Novatel comms port (default: '') 'serial_baud_rate': Serial port baud rate (typ: 4800, 9600, etc.) (default: '"4800"') 'raw_dump_file': If not empty, raw GNSS data will be dumped to this file. (default: '""') 'novatel_imu_orientation': See Novatel docs for SETIMUORIENTATION. (default: '"6"') 'novatel_veh_body_rotation': See Novatel docs for VEHICLEBODYROTATION. (default: '"0.000000 0.000000 90.000000 0.000000 0.000000 0.000000"') 'novatel_imu_to_ant_offset': See Novatel docs for SETIMUTOANTOFFSET. (default: '"-0.28 -0.08 -0.01 0.000000 0.000000 0.000000"') 'novatel_ins_offset': See Novatel docs for SETINSOFFSET. (default: '"0.000000 0.000000 0.000000"') 'novatel_init_azimuth': See Novatel docs for SETINITAZIMUTH. (default: '"0.000000 25.000000"') 'ntrip_server': DNS or IP of the NTRIP server. (default: '"www.euref-ip.net"') 'ntrip_port': TCP port for connecting to the NTRIP server. (default: '"2101"') 'ntrip_mount_point': Mount point to connect inside the NTRIP server. (default: '"ALME00ESP0"') 'ntrip_user': NTRIP server username. (default: '""') 'ntrip_password': NTRIP server password. (default: '""') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'log_level': Logging level (default: 'INFO') ``` </details> # `mrpt_sensor_imu_taobotics` Supported models: `hfi-b6`, `hfi-a9` ```bash # INSTALL: sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-imu-taobotics ``` ```bash # Launch to test it: ros2 launch mrpt_sensor_imu_taobotics mrpt_sensor_imu_taobotics.launch.py serial_port:=/dev/ttyUSB0 ```

Launch arguments

```yaml ros2 launch mrpt_sensor_imu_taobotics mrpt_sensor_imu_taobotics.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"500"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of type sensor_msg/Image will be published to this topic (plus suffix "_left"/"_right") for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'imu') 'robot_frame_id': The robot frame_id name. Used to publish the sensor pose to /tf. (default: 'base_link') 'serial_port': Serial port device to open, e.g. /dev/ttyUSB0 'sensor_model': Sensor model, needed to parse its binary frame protocol. Supported devices (check mrpt::hwdrivers::CTaoboticsIMU) at present are: (hfi-b6|hfi-a9) (default: '"hfi-a9"') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_yaw': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'sensor_pose_pitch': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'sensor_pose_roll': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'log_level': Logging level (default: 'INFO') ``` </details> # `mrpt_sensor_velodyne` Supported models: `VLP16`,`HDL32`,`HDL64` ```bash ros2 launch mrpt_sensors velodyne.launch.py ``` TODO: Document and explain parameters. # Individual package build status | Package | ROS 2 Humble
BinBuild | ROS 2 Iron
BinBuild | ROS 2 Jazzy
BinBuild | ROS 2 Rolling
BinBuild | | --- | --- | --- | --- |--- | | mrpt_generic_sensor | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mrpt_generic_sensor__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mrpt_generic_sensor__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__mrpt_generic_sensor__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__mrpt_generic_sensor__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mrpt_generic_sensor__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mrpt_generic_sensor__ubuntu_noble_amd64__binary/) |[![Build Status](https://build.ros2.org/job/Rbin_uN64__mrpt_generic_sensor__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mrpt_generic_sensor__ubuntu_noble_amd64__binary/) | | mrpt_sensor_bumblebee_stereo | [![Build 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CONTRIBUTING

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mrpt_sensors repository

mrpt_generic_sensor mrpt_sensorlib mrpt_sensors mrpt_sensors_examples

Repository Summary

Checkout URI	https://github.com/mrpt-ros-pkg/mrpt_sensors.git
VCS Type	git
VCS Version	ros1
Last Updated	2024-03-19
Dev Status	DEVELOPED
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
mrpt_generic_sensor	0.0.4
mrpt_sensorlib	0.0.4
mrpt_sensors	0.0.4
mrpt_sensors_examples	0.0.4

README

Distro	Build dev	Build release	Stable sync
ROS1 Noetic (u20.04)

EOL Distro	Last release
ROS1 Melodic (u18.04)

mrpt_sensors

ROS nodes for various robotics sensors via mrpt-hwdrivers

This branch ros1 will see no further development.

CONTRIBUTING

No CONTRIBUTING.md found.

mrpt_sensors repository

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mrpt_sensors repository

mrpt_generic_sensor mrpt_sensor_bumblebee_stereo mrpt_sensor_gnss_nmea mrpt_sensor_gnss_novatel mrpt_sensor_imu_taobotics mrpt_sensorlib mrpt_sensors

Repository Summary

Checkout URI	https://github.com/mrpt-ros-pkg/mrpt_sensors.git
VCS Type	git
VCS Version	ros2
Last Updated	2024-09-01
Dev Status	DEVELOPED
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
mrpt_generic_sensor	0.2.3
mrpt_sensor_bumblebee_stereo	0.2.3
mrpt_sensor_gnss_nmea	0.2.3
mrpt_sensor_gnss_novatel	0.2.3
mrpt_sensor_imu_taobotics	0.2.3
mrpt_sensorlib	0.2.3
mrpt_sensors	0.2.3

README

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Iron (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Rolling (u24.04)

mrpt_sensors

ROS nodes for various robotics sensors via mrpt-hwdrivers.

All packages follow REP-2003 regarding ROS 2 topic QoS.

`mrpt_sensor_bumblebee_stereo`

ROS 2 node for Bumblebee Stereo Cameras using libdc1394 interface.

Supported models: Bumblebee2 stereo cameras with FireWire connection.

# INSTALL:
sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-bumblebee-stereo

# Launch to test it:
ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py

Launch arguments

```yaml ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"80"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of type sensor_msg/Image will be published to this topic (plus suffix "_left"/"_right") for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'sensor') 'robot_frame_id': The robot frame_id name. Used to publish the sensor pose to /tf. (default: 'base_link') 'dc1394_framerate': eg: 7.5, 15, 30, 60, etc... For possibilities see mrpt::hwdrivers::TCaptureOptions_dc1394 (default: '"15"') 'dc1394_camera_guid': 0 (or not present): the first camera. A hexadecimal number (0x11223344): The GUID of the camera to open (default: '"0"') 'camera_preview_decimation': N<=0 (or not present): No preview; N>0, display 1 out of N captured frames. (default: '"0"') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_yaw': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'sensor_pose_pitch': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'sensor_pose_roll': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'log_level': Logging level (default: 'INFO') ``` </details> # `mrpt_sensor_gnss_nmea` Supported models: any GPS/GNSS sensor emiting NMEA messages via a serial/USB port. ```bash # INSTALL: sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-gnss-nmea ``` ```bash # Launch to test it: ros2 launch mrpt_sensor_gnss_nmea mrpt_sensor_gnss_nmea.launch.py serial_port:=/dev/ttyACM0 publish_topic:="/gps" ``` Parsed messages (via [mrpt::hwdrivers::CGPSInterface](https://docs.mrpt.org/reference/latest/class_mrpt_hwdrivers_CGPSInterface.html)): - NMEA_GGA - NMEA_GLL - NMEA_GSA - NMEA_GSV - NMEA_MSS - NMEA_RMC - NMEA_VTG - NMEA_ZDA

Launch arguments

```yaml ros2 launch mrpt_sensor_gnss_nmea mrpt_sensor_gnss_nmea.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"50"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of the appropriate type will be published to this topic for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'sensor') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'serial_port': Serial port to open (default: '') 'serial_baud_rate': Serial port baud rate (typ: 4800, 9600, etc.) (default: '"4800"') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'log_level': Logging level (default: 'INFO') ``` </details> # `mrpt_sensor_gnss_novatel` ROS node for GNSS/IMU Novatel receivers with RTK precision using an NTRIP HTTP source. This node actually launches two mrpt::hwdrivers sensors: - mrpt::hwdrivers::CGPSInterface for the Novatel GNSS/INS device, and - mrpt::hwdrivers::CNTRIPEmitter to connect to a remove NTRIP source and emit the received corrections via a serial port. Thus, you need to specify several mandatory ros launch arguments to make this node to work, including the Novatel serial (USB) ports, the NTRIP server configuration, etc. Supported models: Novatel OEM6 ```bash # INSTALL: sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-gnss-novatel ``` ```bash # Launch to test it: ros2 launch mrpt_sensor_gnss_novatel mrpt_sensor_gnss_novatel.launch.py \ publish_topic:="/gps_novatel" \ publish_mrpt_obs_topic:="/gps_novatel_mrpt" \ sensor_frame_id:="novatel" \ sensor_label:="novatel" \ novatel_main_serial_port:="/dev/serial/by-id/usb-Novatel_Inc._Novatel_GPS_Receiver_BJYA15400456J-if00-port0" \ novatel_ntrip_serial_port:="/dev/serial/by-id/usb-Novatel_Inc._Novatel_GPS_Receiver_BJYA15400456J-if00-port2" \ ntrip_server:="www.euref-ip.net" \ ntrip_port:="\"2101\"" \ ntrip_mount_point:="ALME00ESP0" \ ntrip_user:="user" \ ntrip_password:="pass" \ novatel_init_azimuth:="0.0 25.0" ```

Launch arguments

```yaml ros2 launch mrpt_sensor_gnss_novatel mrpt_sensor_gnss_novatel.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"50"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of the appropriate type will be published to this topic for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'sensor') 'robot_frame_id': The robot frame_id name. Used to publish the sensor pose to /tf. (default: 'base_link') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'novatel_main_serial_port': Main Novatel comms port (default: '') 'serial_baud_rate': Serial port baud rate (typ: 4800, 9600, etc.) (default: '"4800"') 'raw_dump_file': If not empty, raw GNSS data will be dumped to this file. (default: '""') 'novatel_imu_orientation': See Novatel docs for SETIMUORIENTATION. (default: '"6"') 'novatel_veh_body_rotation': See Novatel docs for VEHICLEBODYROTATION. (default: '"0.000000 0.000000 90.000000 0.000000 0.000000 0.000000"') 'novatel_imu_to_ant_offset': See Novatel docs for SETIMUTOANTOFFSET. (default: '"-0.28 -0.08 -0.01 0.000000 0.000000 0.000000"') 'novatel_ins_offset': See Novatel docs for SETINSOFFSET. (default: '"0.000000 0.000000 0.000000"') 'novatel_init_azimuth': See Novatel docs for SETINITAZIMUTH. (default: '"0.000000 25.000000"') 'ntrip_server': DNS or IP of the NTRIP server. (default: '"www.euref-ip.net"') 'ntrip_port': TCP port for connecting to the NTRIP server. (default: '"2101"') 'ntrip_mount_point': Mount point to connect inside the NTRIP server. (default: '"ALME00ESP0"') 'ntrip_user': NTRIP server username. (default: '""') 'ntrip_password': NTRIP server password. (default: '""') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'log_level': Logging level (default: 'INFO') ``` </details> # `mrpt_sensor_imu_taobotics` Supported models: `hfi-b6`, `hfi-a9` ```bash # INSTALL: sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-imu-taobotics ``` ```bash # Launch to test it: ros2 launch mrpt_sensor_imu_taobotics mrpt_sensor_imu_taobotics.launch.py serial_port:=/dev/ttyUSB0 ```

Launch arguments

```yaml ros2 launch mrpt_sensor_imu_taobotics mrpt_sensor_imu_taobotics.launch.py --show-args Arguments (pass arguments as ':='): 'process_rate': Rate (Hz) for the process() main sensor loop. (default: '"500"') 'out_rawlog_prefix': If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages. (default: '') 'publish_mrpt_obs_topic': If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor. (default: '') 'publish_topic': If not empty, messages of type sensor_msg/Image will be published to this topic (plus suffix "_left"/"_right") for each sensor observation. (default: 'sensor') 'sensor_frame_id': The sensor frame_id name. Used to populate msg header and to publish to /tf too. (default: 'imu') 'robot_frame_id': The robot frame_id name. Used to publish the sensor pose to /tf. (default: 'base_link') 'serial_port': Serial port device to open, e.g. /dev/ttyUSB0 'sensor_model': Sensor model, needed to parse its binary frame protocol. Supported devices (check mrpt::hwdrivers::CTaoboticsIMU) at present are: (hfi-b6|hfi-a9) (default: '"hfi-a9"') 'sensor_label': The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor. (default: 'sensor') 'sensor_pose_x': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_y': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_z': Sensor pose coordinate on the vehicle frame. (default: '"0.0"') 'sensor_pose_yaw': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'sensor_pose_pitch': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'sensor_pose_roll': Sensor pose coordinate on the vehicle frame (degrees). (default: '"0.0"') 'log_level': Logging level (default: 'INFO') ``` </details> # `mrpt_sensor_velodyne` Supported models: `VLP16`,`HDL32`,`HDL64` ```bash ros2 launch mrpt_sensors velodyne.launch.py ``` TODO: Document and explain parameters. # Individual package build status | Package | ROS 2 Humble
BinBuild | ROS 2 Iron
BinBuild | ROS 2 Jazzy
BinBuild | ROS 2 Rolling
BinBuild | | --- | --- | --- | --- |--- | | mrpt_generic_sensor | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mrpt_generic_sensor__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mrpt_generic_sensor__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__mrpt_generic_sensor__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__mrpt_generic_sensor__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mrpt_generic_sensor__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mrpt_generic_sensor__ubuntu_noble_amd64__binary/) |[![Build Status](https://build.ros2.org/job/Rbin_uN64__mrpt_generic_sensor__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mrpt_generic_sensor__ubuntu_noble_amd64__binary/) | | mrpt_sensor_bumblebee_stereo | [![Build 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Status](https://build.ros2.org/job/Hbin_uJ64__mrpt_sensor_gnss_nmea__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mrpt_sensor_gnss_nmea__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__mrpt_sensor_gnss_nmea__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__mrpt_sensor_gnss_nmea__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mrpt_sensor_gnss_nmea__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mrpt_sensor_gnss_nmea__ubuntu_noble_amd64__binary/) |[![Build Status](https://build.ros2.org/job/Rbin_uN64__mrpt_sensor_gnss_nmea__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mrpt_sensor_gnss_nmea__ubuntu_noble_amd64__binary/) | | mrpt_sensor_imu_taobotics | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mrpt_sensor_imu_taobotics__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mrpt_sensor_imu_taobotics__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__mrpt_sensor_imu_taobotics__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__mrpt_sensor_imu_taobotics__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mrpt_sensor_imu_taobotics__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mrpt_sensor_imu_taobotics__ubuntu_noble_amd64__binary/) |[![Build Status](https://build.ros2.org/job/Rbin_uN64__mrpt_sensor_imu_taobotics__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mrpt_sensor_imu_taobotics__ubuntu_noble_amd64__binary/) | | mrpt_sensorlib | [![Build 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mrpt_sensors repository

mrpt_generic_sensor mrpt_sensorlib mrpt_sensors mrpt_sensors_examples

Repository Summary

Checkout URI	https://github.com/mrpt-ros-pkg/mrpt_sensors.git
VCS Type	git
VCS Version	ros1
Last Updated	2024-03-19
Dev Status	DEVELOPED
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
mrpt_generic_sensor	0.0.4
mrpt_sensorlib	0.0.4
mrpt_sensors	0.0.4
mrpt_sensors_examples	0.0.4

README

Distro	Build dev	Build release	Stable sync
ROS1 Noetic (u20.04)

EOL Distro	Last release
ROS1 Melodic (u18.04)

mrpt_sensors

ROS nodes for various robotics sensors via mrpt-hwdrivers

This branch ros1 will see no further development.

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mrpt_sensors repository

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mrpt_sensors

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mrpt_sensor_bumblebee_stereo

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mrpt_sensors repository

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mrpt_sensors

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mrpt_sensors repository

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mrpt_sensors

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mrpt_sensors repository

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mrpt_sensors repository

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`mrpt_sensor_bumblebee_stereo`

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