openzen_sensor repository

Repository Summary

Checkout URI https://bitbucket.org/lpresearch/openzenros.git
VCS Type git
VCS Version master
Last Updated 2020-09-18
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
openzen_sensor 1.0.1

README

OpenZen Node for ROS

This software allows to forward sensor data from sensor connected via OpenZen to ROS.

OpenZen is a library for high performance sensor data streaming and processing and supports multiple sensor models: https://bitbucket.org/lpresearch/openzen/

Requirements

Tools & Compiler

To compile this software, at least G++ version 7.0 and cmake version 3.10 need to be installed. If your default compiler is an older version you can install a recent GCC with your distributions package manager and provide the name of the GCC to the catkin_make command like so:

catkin_make -DCMAKE_C_COMPILER=gcc-7 -DCMAKE_CXX_COMPILER=g++-7

Serial Port Access Rights

After this call, you should logout and login with this user to ensure the changed permissions are in effect.

To allow access to sensors connected via USB, you need to ensure that the user running the ROS sensor node has access to the /dev/ttyUSB devices. You can do this by adding the user to the dialout group.

sudo adduser <username> dialout

Compilation

To compile this driver in your ROS setup, follow these steps:

mkdir -p catskin_ws/src
cd catskin_ws/src

git clone --recurse-submodules https://bitbucket.org/lpresearch/openzenros.git

# get your ROS environment going
source /opt/ros/melodic/setup.bash
cd ..
catkin_make
source ./devel/setup.bash

Running the Driver

Open another terminal window and run the ROS core:

source /opt/ros/melodic/setup.bash
roscore

You can then run the OpenZen ROS driver with this command in the window you used to compile the software:

rosrun openzen_sensor openzen_sensor_node

By default, it will connect to the first available sensor. If you want to connect to a specific sensor, you can use the serial name of the sensor as parameter, for example:

rosrun openzen_sensor openzen_sensor_node _sensor_name:="LPMSCU2000573"

If your sensor is configured for a different baud rate, you can use the baudrate parameter to give a specfic baud rate setting:

rosrun openzen_sensor openzen_sensor_node _sensor_name:="LPMSCU2000573" _baudrate:=115200

Now you can print the IMU values from ROS with:

rostopic echo /imu/data

Or plot some values (for example linear acceleration) with

rosrun rqt_plot rqt_plot /imu/data/linear_acceleration

If you want to readout the values of two OpenZen sensors simultanously, you need to rename the topics and the node names likes this:

rosrun openzen_sensor openzen_sensor __name:="cu2node" _sensor_name:="LPMSCU2000573" imu:=/cu2_imu 
rosrun openzen_sensor openzen_sensor __name:="ig1_node" _sensor_name:="LPMSIG1000032" imu:=/ig1_imu

Alternatively, we have prepared a sample launch file openzen_lpms_ig1.launch to demonstrate data acquisition and plotting using openzen_sensor_node:

roslaunch openzen_sensor openzen_lpms_ig1.launch

API

Please refer to our ROS API documentation for further details.

CONTRIBUTING

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