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ros2_wheeltec_n100_imu\n\nROS2 driver pkg for WHEELTEC N100 IMU module.\n\n![alt wheeltec N100](https://i.ebayimg.com/images/g/2EsAAOSw7WVhk2Vr/s-l1600.jpg)\n\ntopics:\n- /imu\n- /imu_trueEast\n- /magnetic_field\n- /magnetic_pose_2d\n\n### install\n```\nmkdir -p /ros2_ws/src\ncd /ros2_ws/src\ngit clone https://github.com/RoverRobotics-forks/serial-ros2.git #install ros2_serial\ngit clone https://github.com/NDHANA94/ros2_wheeltec_n100_imu.git\ncd ~/ros2_ws\ncolcon build\nsource install/setup.bash\n\n```\n### run\n\n* defaut run:\ndefault serial port: `/dev/ttyACM0`\ndefault serial baudrate: `921600`\n```\nros2 run wheeltec_n100_imu imu_node \n```\n\n* run with custom params:\n```\nros2 run wheeltec_n100_imu imu_node --ros-args -p serial_port:=\"/dev/ttyACM0\" -p serial_baud:=921600\n```\n\n| parameter | data type | default value |\n| --- | --- | --- |\n| debug | bool | false |\n|serial_port | string |  \"/dev/ttyACM0\" |\n|serial_baud | int | 921600 |\n|serial_timeout | int | 20 |\n| device_type |int | 1 |\n| frist_sn | bool | false |\n| imu_topic | string | \"imu\" |\n| imu_frame imu | string | \"imu\" |\n| mag_pose_2d_topic | string |\"magnetic_pose_2d\" |\n| imu_trueEast_topic | string | \"imu_trueEast\"|\n| mag_topic | string | \"magnetic_field\" |\n| yaw_offset | double | -2.094 |\n| mag_offset_x | double | 0.0 |\n| mag_offset_y | double | 0.0 |\n| mag_offset_z | double | 0.0 |\n| imu_mag_covVec | vector\u003cdouble\u003e | {0.01, 0.01, 0.01}|\n| imu_gyro_covVec | vector\u003cdouble\u003e |  {0.01, 0.01, 0.01} |\n| imu_accel_covVec | vector\u003cdouble\u003e |  {0.05, 0.05, 0.05} |\n\n-----------------------------------------------------------------------------------\n\nThe code is based on [ROS1 fdilink imu driver](https://github.com/sbgisen/fdilink_ahrs)\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fndhana94%2Fros2_wheeltec_n100_imu","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fndhana94%2Fros2_wheeltec_n100_imu","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fndhana94%2Fros2_wheeltec_n100_imu/lists"}