Repo symbol

watson_ins repository

Repo symbol

watson_ins repository

Repo symbol

watson_ins repository

Repo symbol

watson_ins repository

Repo symbol

watson_ins repository

Repo symbol

watson_ins repository

Repo symbol

watson_ins repository

Repo symbol

watson_ins repository

Repo symbol

watson_ins repository

Repo symbol

watson_ins repository

Repo symbol

watson_ins repository

Repo symbol

watson_ins repository

Repo symbol

watson_ins repository

Repo symbol

watson_ins repository

Repo symbol

watson_ins repository

Repo symbol

watson_ins repository

Repo symbol

watson_ins repository

watson_ins

Repository Summary

Checkout URI https://github.com/AutonomousVehicleLaboratory/watson_ins.git
VCS Type git
VCS Version master
Last Updated 2020-01-09
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
watson_ins 1.0.0

README

watson_ins

This is a ROS node for the Watson DMS-SGP02.

Building

This package follows the standard ROS build conventions.

Create a new workspace

mkdir -p catkin_ws/src

Clone the source

cd catkin_ws/src
git clone https://github.com/AutonomousVehicleLaboratory/watson_ins.git
cd ..

Build the source

catkin init
catkin build

Running

rosrun watson_ins watson_ins_node

Node Information

Default Parameters

Parameter Value Description
SerialPath /dev/ttyUSB0 Path of serial port
SerialBaud 9600 Serial baud rate
SerialTimeout 1000 Serial port timeout, in milliseconds

Subscribers

None

Publishers

Publisher Function Message Type
/imu_raw Publishes IMU data sensor_msgs::Imu
/fix Publishes GPS data sensor_msgs::NavSatFix

Supported Watson DMS-SGP02 Driver Configuration

Field Field Width (Bytes)
Data Type 2
Time Stamp 9
Roll 7
Pitch 6
Yaw 6
X Acceleration 6
Y Acceleration 6
Z Acceleration 6
Forward Acceleration 6
Lateral Acceleration 6
Vertical Acceleration 6
X Angle Rate 6
Y Angle Rate 6
Z Angle Rate 6
Heading Rate 6
Forward Velocity 7
Latitude 10
Longitude 11
Altitude 5

Supporting other Watson output configuration

By default, this ROS node supports the fields mentioned in the previous section. If support for different driver configurations is desired, please see include/watson_ins_driver.h.

Repo symbol

watson_ins repository

Repo symbol

watson_ins repository