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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.
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