Repository Summary
| Checkout URI | https://github.com/ENSTABretagneRobotics/sbg_ros_driver.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-01-25 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
Packages
| Name | Version |
|---|---|
| sbg_driver | 1.1.7 |
README
sbg_driver
ROS driver for SBG System Ellipse IMU
Installation
Standard Installation
- Kinectic
sudo apt-get install ros-kinetic-sbg-driver
* Lunar
sudo apt-get install ros-lunar-sbg-driver
Installation from sources
- Clone the repository (use a Release version)
- Build using the normal ROS catkin build system
- Launch the driver using the provided launch file
Using the Ellipse nodes
Publishers (ellipse node)
- status (sbg_driver/SbgStatus)
- utc_time (sbg_driver/SbgUtcTime)
- imu_data (sbg_driver/SbgImuData)
- ekf_euler (sbg_driver/SbgEkfEuler)
- ekf_quat (sbg_driver/SbgEkfQuat)
- ekf_nav (sbg_driver/SbgEkfNav)
- ship_motion (sbg_driver/SbgShipMotion)
- mag (sbg_driver/SbgMag)
- mag_calib (sbg_driver/SbgMagCalib)
- gps_vel (sbg_driver/SbgGpsVel)
- gps_pos (sbg_driver/SbgGpsPos)
- gps_hdt (sbg_driver/SbgGpsHdt)
- gps_raw (sbg_driver/SbgGpsRaw)
- odo_vel (sbg_driver/SbgOdoVel)
- eventA (sbg_driver/SbgEvent)
- eventB (sbg_driver/SbgEvent)
- eventC (sbg_driver/SbgEvent)
- eventD (sbg_driver/SbgEvent)
- pressure (sbg_driver/SbgPressure)
Magnetic calibration (mag_calibration_ellipse node)
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).
1. Roslaunch the calibration_sbg_ellipse.launch
2. Send a request to the mag_calibration service to start the calibration process
3. Proceed to rotations of your IMU (every orientations if possible)
3. Send a request to the mag_calibration service to stop the calibration process. An analyse of the calibration is published in log (ROS_INFO)
4. If the calibration is suitable, save the parameters to the Ellipse by sending a request to the mag_calibration_save service.
Q&A
Enable communication with the ellipse (linux access right)
Ensure that your user is added to the dialout group To add yourself to the dialout group preform the following :
sudo adduser username dialout
* Where username is your session username
* Restart your computer to enable access
Create udev rules
ToDo
Repository Summary
| Checkout URI | https://github.com/ENSTABretagneRobotics/sbg_ros_driver.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-01-25 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
Packages
| Name | Version |
|---|---|
| sbg_driver | 1.1.7 |
README
sbg_driver
ROS driver for SBG System Ellipse IMU
Installation
Standard Installation
- Kinectic
sudo apt-get install ros-kinetic-sbg-driver
* Lunar
sudo apt-get install ros-lunar-sbg-driver
Installation from sources
- Clone the repository (use a Release version)
- Build using the normal ROS catkin build system
- Launch the driver using the provided launch file
Using the Ellipse nodes
Publishers (ellipse node)
- status (sbg_driver/SbgStatus)
- utc_time (sbg_driver/SbgUtcTime)
- imu_data (sbg_driver/SbgImuData)
- ekf_euler (sbg_driver/SbgEkfEuler)
- ekf_quat (sbg_driver/SbgEkfQuat)
- ekf_nav (sbg_driver/SbgEkfNav)
- ship_motion (sbg_driver/SbgShipMotion)
- mag (sbg_driver/SbgMag)
- mag_calib (sbg_driver/SbgMagCalib)
- gps_vel (sbg_driver/SbgGpsVel)
- gps_pos (sbg_driver/SbgGpsPos)
- gps_hdt (sbg_driver/SbgGpsHdt)
- gps_raw (sbg_driver/SbgGpsRaw)
- odo_vel (sbg_driver/SbgOdoVel)
- eventA (sbg_driver/SbgEvent)
- eventB (sbg_driver/SbgEvent)
- eventC (sbg_driver/SbgEvent)
- eventD (sbg_driver/SbgEvent)
- pressure (sbg_driver/SbgPressure)
Magnetic calibration (mag_calibration_ellipse node)
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).
1. Roslaunch the calibration_sbg_ellipse.launch
2. Send a request to the mag_calibration service to start the calibration process
3. Proceed to rotations of your IMU (every orientations if possible)
3. Send a request to the mag_calibration service to stop the calibration process. An analyse of the calibration is published in log (ROS_INFO)
4. If the calibration is suitable, save the parameters to the Ellipse by sending a request to the mag_calibration_save service.
Q&A
Enable communication with the ellipse (linux access right)
Ensure that your user is added to the dialout group To add yourself to the dialout group preform the following :
sudo adduser username dialout
* Where username is your session username
* Restart your computer to enable access
Create udev rules
ToDo
Repository Summary
| Checkout URI | https://github.com/ENSTABretagneRobotics/sbg_ros_driver.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-01-25 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
Packages
| Name | Version |
|---|---|
| sbg_driver | 1.1.7 |
README
sbg_driver
ROS driver for SBG System Ellipse IMU
Installation
Standard Installation
- Kinectic
sudo apt-get install ros-kinetic-sbg-driver
* Lunar
sudo apt-get install ros-lunar-sbg-driver
Installation from sources
- Clone the repository (use a Release version)
- Build using the normal ROS catkin build system
- Launch the driver using the provided launch file
Using the Ellipse nodes
Publishers (ellipse node)
- status (sbg_driver/SbgStatus)
- utc_time (sbg_driver/SbgUtcTime)
- imu_data (sbg_driver/SbgImuData)
- ekf_euler (sbg_driver/SbgEkfEuler)
- ekf_quat (sbg_driver/SbgEkfQuat)
- ekf_nav (sbg_driver/SbgEkfNav)
- ship_motion (sbg_driver/SbgShipMotion)
- mag (sbg_driver/SbgMag)
- mag_calib (sbg_driver/SbgMagCalib)
- gps_vel (sbg_driver/SbgGpsVel)
- gps_pos (sbg_driver/SbgGpsPos)
- gps_hdt (sbg_driver/SbgGpsHdt)
- gps_raw (sbg_driver/SbgGpsRaw)
- odo_vel (sbg_driver/SbgOdoVel)
- eventA (sbg_driver/SbgEvent)
- eventB (sbg_driver/SbgEvent)
- eventC (sbg_driver/SbgEvent)
- eventD (sbg_driver/SbgEvent)
- pressure (sbg_driver/SbgPressure)
Magnetic calibration (mag_calibration_ellipse node)
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).
1. Roslaunch the calibration_sbg_ellipse.launch
2. Send a request to the mag_calibration service to start the calibration process
3. Proceed to rotations of your IMU (every orientations if possible)
3. Send a request to the mag_calibration service to stop the calibration process. An analyse of the calibration is published in log (ROS_INFO)
4. If the calibration is suitable, save the parameters to the Ellipse by sending a request to the mag_calibration_save service.
Q&A
Enable communication with the ellipse (linux access right)
Ensure that your user is added to the dialout group To add yourself to the dialout group preform the following :
sudo adduser username dialout
* Where username is your session username
* Restart your computer to enable access
Create udev rules
ToDo