sbg_driver

ROS driver package for SBG Systems IMU, AHRS and INS.
This driver package uses the sbgECom binary protocol to read data and configure SBG Systems devices.

Initial work has been done by ENSTA Bretagne.

Author: SBG Systems
Maintainer: SBG Systems
Contact: support@sbg-systems.com

Features

The driver supports the following features:

• Configure ELLIPSE products using yaml files (see note below)
• Parse IMU/AHRS/INS/GNSS using the sbgECom protocol
• Publish standard ROS messages and more detailed specific SBG Systems topics
• Subscribe and forward RTCM data to support DGPS/RTK mode with centimeters-level accuracy
• Calibrate 2D/3D magnetic field using the on-board ELLIPSE algorithms

[!NOTE] Only ELLIPSE devices can be configured from the ROS driver. For High Performance INS such as EKINOX, APOGEE and QUANTA, please use the sbgInsRestApi

Installation

Installation from Packages

User can install the sbg_ros_driver through the standard ROS installation system.

• Noetic sudo apt-get install ros-noetic-sbg-driver

Building from sources

Dependencies

• Robot Operating System (ROS)
• sbgECom C Library (embeds v1.11.920-stable - compatible with ELLIPSE firmware above 1.7)
• Boost C++ Library

Building

1. Clone the repository (use a Release version)

cd catkin_ws/src
git clone -b master https://github.com/SBG-Systems/sbg_ros_driver.git

1. Install dependencies

cd ..
rosdep install --from-paths src --ignore-src -r -y

1. Build using the normal ROS catkin build system

source /opt/ros/${ROS_DISTRO}/setup.bash
catkin_make

Usage

Source the generated setup environment

source devel/setup.bash

To run the default Ros node with the default configuration

roslaunch sbg_driver sbg_device.launch

To run the magnetic calibration node

roslaunch sbg_driver sbg_device_mag_calibration.launch

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 NMEA GNSS.

File truncated at 100 lines see the full file