https://github.com/ndhana94/ros2_wheeltec_n100_imu
ROS2 driver pkg for wheeltec N100 IMU module.
https://github.com/ndhana94/ros2_wheeltec_n100_imu
cpp imu rclcpp ros2 wheeltec wheeltec-n100
Last synced: 7 months ago
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ROS2 driver pkg for wheeltec N100 IMU module.
- Host: GitHub
- URL: https://github.com/ndhana94/ros2_wheeltec_n100_imu
- Owner: NDHANA94
- Created: 2023-05-30T21:56:44.000Z (over 3 years ago)
- Default Branch: master
- Last Pushed: 2023-06-07T09:05:24.000Z (over 3 years ago)
- Last Synced: 2025-08-30T14:40:02.962Z (about 1 year ago)
- Topics: cpp, imu, rclcpp, ros2, wheeltec, wheeltec-n100
- Language: C++
- Homepage:
- Size: 63.5 KB
- Stars: 12
- Watchers: 1
- Forks: 5
- Open Issues: 3
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# ros2_wheeltec_n100_imu
ROS2 driver pkg for WHEELTEC N100 IMU module.
topics:
- /imu
- /imu_trueEast
- /magnetic_field
- /magnetic_pose_2d
### install
```
mkdir -p /ros2_ws/src
cd /ros2_ws/src
git clone https://github.com/RoverRobotics-forks/serial-ros2.git #install ros2_serial
git clone https://github.com/NDHANA94/ros2_wheeltec_n100_imu.git
cd ~/ros2_ws
colcon build
source install/setup.bash
```
### run
* defaut run:
default serial port: `/dev/ttyACM0`
default serial baudrate: `921600`
```
ros2 run wheeltec_n100_imu imu_node
```
* run with custom params:
```
ros2 run wheeltec_n100_imu imu_node --ros-args -p serial_port:="/dev/ttyACM0" -p serial_baud:=921600
```
| parameter | data type | default value |
| --- | --- | --- |
| debug | bool | false |
|serial_port | string | "/dev/ttyACM0" |
|serial_baud | int | 921600 |
|serial_timeout | int | 20 |
| device_type |int | 1 |
| frist_sn | bool | false |
| imu_topic | string | "imu" |
| imu_frame imu | string | "imu" |
| mag_pose_2d_topic | string |"magnetic_pose_2d" |
| imu_trueEast_topic | string | "imu_trueEast"|
| mag_topic | string | "magnetic_field" |
| yaw_offset | double | -2.094 |
| mag_offset_x | double | 0.0 |
| mag_offset_y | double | 0.0 |
| mag_offset_z | double | 0.0 |
| imu_mag_covVec | vector | {0.01, 0.01, 0.01}|
| imu_gyro_covVec | vector | {0.01, 0.01, 0.01} |
| imu_accel_covVec | vector | {0.05, 0.05, 0.05} |
-----------------------------------------------------------------------------------
The code is based on [ROS1 fdilink imu driver](https://github.com/sbgisen/fdilink_ahrs)