Repository Summary
Checkout URI | https://github.com/SBG-Systems/sbg_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2020-10-21 |
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 |
---|---|
sbg_driver | 1.0.1 |
README
sbg_driver
Overview
ROS package for SBG Systems IMU.
The driver allows the user to configure the IMU (if possible, according to the device), to receive messages from the Sbg message protocol, publish ROS standard messages , and to calibrate the magnetometers.
Initial work has been done by ENSTA Bretagne.
Author : SBG Systems
Maintainer : SBG Systems, support@sbg-systems.com
Installation
Installation from Packages
User can install the sbg_ros2_driver through the standard ROS installation system.
* Dashing
sudo apt-get install ros-dashing-sbg-driver
* Eloquent
sudo apt-get install ros-eloquent-sbg-driver
* Foxy
sudo apt-get install ros-foxy-sbg-driver
Building from sources
Dependencies
- Robot Operating System (ROS)
- SBG communication protocol sbgECom, v1.11.920-stable (full compatible with firmwares from 1.7.x).
- Boost
Building
- Clone the repository (use a Release version)
- Build using the normal ROS catkin build system
cd colcon_ws/src
git clone https://github.com/SBG-Systems/sbg_ros2.git
cd sbg_ros2
rosdep update
rosdep install --from-path .
cd ../..
colcon build
source install/setup.bash
Usage
To run the default Ros2 node with the default configuration
ros2 launch sbg_driver sbg_device_launch.py
To run the magnetic calibration node
ros2 launch sbg_driver sbg_device_mag_calibration_launch.py
Config files
Default config files
Every configuration file is defined according to the same structure.
-
sbg_device_uart_default.yaml
This config file is the default one for Uart connection with the device.
It does not configure the device through the ROS node, so it has to be previously configured (manually or with the ROS node).
It defines a few outputs for the device :-
/sbg/imu_data
,/sbg/ekf_quat
at 25Hz - ROS standard outputs
/imu/data
,/imu/velocity
,/imu/temp
at 25Hz -
/sbg/status
,/sbg/utc_time
and/imu/utc_ref
at 1Hz.
-
-
sbg_device_udp_default.yaml
This config file is the default one for an Udp connection with the device.
It does not configure the device through the ROS node, so it has to be previously configured (manually or with the ROS node).
It defines a few outputs for the device :-
/sbg/imu_data
,/sbg/ekf_quat
at 25Hz - ROS standard outputs
/imu/data
,/imu/velocity
,/imu/temp
at 25Hz -
/sbg/status
,/sbg/utc_time
and/imu/utc_ref
at 1Hz.
-
Example config files
ellipse_A_default.yaml
Default config file for an Ellipse-A.ellipse_E_default.yaml
Default config file for an Ellipse-E with an external antenna and external Gnss.ellipse_N_default.yaml
Default config file for an Ellipse-N with an external antenna and internal Gnss.
Launch files
Default launch files
sbg_device_launch.py
Launch the sbg_device node to handle the receivde data, and load thesbg_device_uart_default.yaml
configuration.sbg_device_mag_calibration_launch.py
Launch the sbg_device_mag node to calibrate the magnetometers, and load theellipse_E_default.yaml
configuration.
Nodes
sbg_device
The sbg_device node handles the communication with the connected device, and publishes the SBG output to the Ros environment.
Published Topics
SBG specific topics
-
/sbg/status
sbg_driver/SbgStatus
Provides informations about the general status (Communication, Aiding, etc..).
-
/sbg/utc_time
sbg_driver/SbgUtcTime
Provides UTC time reference.
-
/sbg/imu_data
sbg_driver/SbgImuData
IMU status, and sensors values.
-
/sbg/ekf_euler
sbg_driver/SbgEkfEuler
Computed orientation using Euler angles.
-
/sbg/ekf_quat
sbg_driver/SbgEkfQuat
Computed orientation using Quaternion.
-
/sbg/ekf_nav
sbg_driver/SbgEkfNav
Computed navigation data.
-
/sbg/mag
sbg_driver/SbgMag
Magnetic data.
-
/sbg/mag_calib
sbg_driver/SbgMagCalib
Magnetometer calibration data.
-
/sbg/ship_motion
sbg_driver/SbgShipMotion
Heave, surge and sway data.
-
/sbg/gps_vel
sbg_driver/SbgGpsVel
GPS velocities from GPS receiver.
-
/sbg/gps_pos
sbg_driver/SbgGpsPos
GPS positions from GPS receiver.
-
/sbg/gps_hdt
sbg_driver/SbgGpsHdt
GPS true heading from dual antenna system.
-
/sbg/gps_raw
sbg_driver/SbgGpsRaw
GPS raw data for post processing.
-
/sbg/odo_vel
sbg_driver/SbgOdoVel
Odometer velocity.
-
/sbg/event[ABCDE]
sbg_driver/SbgEvent
Event on sync in the corresponding pin.
-
/sbg/pressure
sbg_driver/SbgPressure
Pressure data.
ROS standard topics
In order to define ROS standard topics, it requires sometimes several SBG messages, to be merged. For each ROS standard, you have to activate the needed SBG outputs.
-
/imu/data
sensor_msgs/Imu
IMU data.
Requires /sbg/imu_data
and /sbg/ekf_quat
.
-
/imu/temp
sensor_msgs/Temperature
IMU temperature data.
Requires /sbg/imu_data
.
-
/imu/velocity
geometry_msgs/TwistStamped
IMU velocity data.
Requires /sbg/imu_data
.
-
/imu/mag
sensor_msgs/MagneticField
IMU magnetic field.
Requires /sbg/mag
.
-
/imu/pres
sensor_msgs/FluidPressure
IMU pressure data.
Requires /sbg/pressure
.
-
/imu/pos_ecef
geometry_msgs/PointStamped
Earth-Centered Earth-Fixed position.
Requires /sbg/ekf_nav
.
-
/imu/utc_ref
sensor_msgs/TimeReference
UTC time reference.
Requires /sbg/utc_time
.
-
/imu/nav_sat_fix
sensor_msgs/NavSatFix
Navigation satellite fix for any Global Navigation Satellite System.
Requires /sbg/gps_pos
.
sbg_device_mag
The sbg_device_mag node handles the magnetic calibration for suitable devices.
Services
-
/sbg/mag_calibration
std_srvs/Trigger
Service to start/stop the magnetic calibration.
-
/sbg/mag_calibration_save
std_srvs/Trigger
Service to save the magnetic calibration to the connected device.
HowTo
Configure the SBG device
The SBG Ros driver allows the user to configure the device before starting the data handling.
To do so, set the corresponding parameter in the used config file.
# Configuration of the device with ROS.
confWithRos: true
Then, modify the desired parameters in the config file, using the SBG Firmware Manual, to see which features are configurable, and which parameter values are available.
Calibrate the magnetometers
Ellipse-A/E/N use magnemoter to provide heading. A calibration is then required to compensate soft and hard iron distortions due to the environmenent (motors, batteries, ...). The magnetic calibration procedure should be held in a non magnetic area (outside of buildings).
roslaunch sbg_driver sbg_device_mag_calibration.launch
rosservice call /sbg/mag_calibration
success: True
message: "Magnetometer calibration process started."
Proceed rotations of the IMU (every orientation if possible).
rosservice call /sbg/mag_calibration
success: True
message: "Magnetometer calibration is finished. See the output console to get calibration informations."
If the magnetic calibration is satisfaying (Quality, Confidence), it could be uploaded/saved to the device.
rosservice call /sbg/mag_calibration_save
success: True
message: "Magnetometer calibration has been uploaded to the device."
Enable communication with the SBG device
To be able to communicate with the device, be sure that your user is part of the dialout group.
Once added, restart your machine to save and apply the changes.
sudo adduser $USER dialout
Create udev rules
Udev rules can be defined for communication port, in order to avoid modifying the port in configuration if it has changed. Udev documentation
A symlink can be configured and defined to uniquely identify the connected device.
Once it is done, configuration file could be updated portName: "/dev/sbg"
.
See the docs folder, to see an example of rules with the corresponding screenshot using the udev functions.
Synchronize the ROS messages from an external time source
No external source
When no external time source is available, the header time of messages is the system Epoch (Unix) processing time of the SBG callback, given by the
ros::Time::now()
.
External Gnss receiver and/or External antenna
When the SBG device is connected with an external Gnss receiver, if the device receives a full valid SBG Utc log, i.e : * A stable input clock to be synchronized with the internal clock * A valid Utc time data (with or without the leap second) * The clock has converged to the PPS
then, the time header will be computed from the last received Utc log and the device timestamp given by the internal clock.
Contributing
Bugs and issues
Please report bugs and/or issues using the Issue Tracker
Features requests or additions
In order to contribute to the code, please use Pull requests to the devel
branch.
If you have some feature requests, use the Issue Tracker as well.