watson_ins repository

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
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

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.

CONTRIBUTING

No CONTRIBUTING.md found.