Official ROS Documentation

A much more extensive and standard ROS-style version of this documentation can be found on the ROS wiki at:

http://wiki.ros.org/razor_imu_9dof

Install and Configure ROS Package

1) Install dependencies (for 3D visualization):

sudo apt-get install python-visual # For Ubuntu 16.04 and before
# For Ubuntu 18.04, install https://github.com/lebarsfa/visual/tree/bionic, or see https://github.com/ENSTABretagneRobotics/razor_imu_9dof/issues/47
sudo apt-get install python3-pip python3-wxgtk4.0 ; pip3 install vpython # From Ubuntu 20.04

2) Download code:

cd ~/catkin_workspace/src
git clone https://github.com/ENSTABretagneRobotics/razor_imu_9dof.git
cd ..
catkin_make
# For 3D visualization, from Ubuntu 20.04
cd src/razor_imu_9dof/nodes ; wget https://www.glowscript.org/docs/VPythonDocs/VPtoGS.py ; python3 VPtoGS.py ; cp -f Converted/display_3D_visualization.py display_3D_visualization.py ; cd ../../..

Install Arduino firmware

1) For SPX-15846 and DEV-16832 (OpenLog Artemis), you will need to follow the same instructions as for the OLA_IMU_Basics.ino sample from https://github.com/sparkfun/OpenLog_Artemis (i.e. get the drivers from https://learn.sparkfun.com/tutorials/how-to-install-ch340-drivers, install SparkFun Apollo3 boards in Arduino IDE as in https://learn.sparkfun.com/tutorials/installing-board-definitions-in-the-arduino-ide (add https://raw.githubusercontent.com/sparkfun/Arduino_Boards/master/IDE_Board_Manager/package_sparkfun_index.json to File → Preferences → Additional Board Manager URLs) and ensure you select SparkFun Apollo3 → SparkFun RedBoard Artemis ATP as the board and install SparkFun ICM 20948 IMU Arduino library as in https://learn.sparkfun.com/tutorials/installing-an-arduino-library). For SEN-14001 (9DoF Razor IMU M0), you will need to follow the same instructions as for the default firmware on https://learn.sparkfun.com/tutorials/9dof-razor-imu-m0-hookup-guide and use an updated version of SparkFun_MPU-9250-DMP_Arduino_Library from https://github.com/lebarsfa/SparkFun_MPU-9250-DMP_Arduino_Library (an updated version of the default firmware is also available on https://github.com/lebarsfa/9DOF_Razor_IMU).

2) Open src/Razor_AHRS/Razor_AHRS.ino in Arduino IDE. Note: this is a modified version of Peter Bartz’ original Arduino code (see https://github.com/ptrbrtz/razor-9dof-ahrs). Use this version - it emits linear acceleration and angular velocity data required by the ROS Imu message

3) Select your hardware here by uncommenting the right line in src/Razor_AHRS/Razor_AHRS.ino, e.g.

// HARDWARE OPTIONS
/*****************************************************************/
// Select your hardware here by uncommenting one line!
//#define HW__VERSION_CODE 10125 // SparkFun "9DOF Razor IMU" version "SEN-10125" (HMC5843 magnetometer)
//#define HW__VERSION_CODE 10736 // SparkFun "9DOF Razor IMU" version "SEN-10736" (HMC5883L magnetometer)
//#define HW__VERSION_CODE 14001 // SparkFun "9DoF Razor IMU M0" version "SEN-14001"
//#define HW__VERSION_CODE 15846 // SparkFun "OpenLog Artemis" version "SPX-15846"
#define HW__VERSION_CODE 16832 // SparkFun "OpenLog Artemis" version "DEV-16832"
//#define HW__VERSION_CODE 10183 // SparkFun "9DOF Sensor Stick" version "SEN-10183" (HMC5843 magnetometer)
//#define HW__VERSION_CODE 10321 // SparkFun "9DOF Sensor Stick" version "SEN-10321" (HMC5843 magnetometer)
//#define HW__VERSION_CODE 10724 // SparkFun "9DOF Sensor Stick" version "SEN-10724" (HMC5883L magnetometer)

4) Upload Arduino sketch to the board

Configure

In its default configuration, razor_imu_9dof expects a yaml config file my_razor.yaml with:

• USB port to use
• Calibration parameters

An examplerazor.yaml file is provided. Copy that file to my_razor.yaml as follows:

roscd razor_imu_9dof/config
cp razor.yaml my_razor.yaml

Then, edit my_razor.yaml as needed

Launch

Publisher only:

roslaunch razor_imu_9dof razor-pub.launch

Publisher and 3D visualization:

roslaunch razor_imu_9dof razor-pub-and-display.launch

Publisher only with diagnostics:

roslaunch razor_imu_9dof razor-pub-diags.launch

3D visualization only:

roslaunch razor_imu_9dof razor-display.launch

Calibrate

File truncated at 100 lines see the full file