sbg_driver repository

Repository Summary

Checkout URI https://github.com/ENSTABretagneRobotics/sbg_ros_driver.git
VCS Type git
VCS Version master
Last Updated 2018-10-31
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

  1. Clone the repository (use a Release version)
  2. Build using the normal ROS catkin build system
  3. Launch the driver using the provided launch file

Using the Ellipse nodes

Publishers (ellipse node)

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 2018-10-31
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

  1. Clone the repository (use a Release version)
  2. Build using the normal ROS catkin build system
  3. Launch the driver using the provided launch file

Using the Ellipse nodes

Publishers (ellipse node)

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 2018-10-31
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

  1. Clone the repository (use a Release version)
  2. Build using the normal ROS catkin build system
  3. Launch the driver using the provided launch file

Using the Ellipse nodes

Publishers (ellipse node)

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