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https://github.com/y250ht/imu_ros2_cmp10a
The nine-axis ARHS attitude sensor MEMS magnetometer bought from yahboom performs well in ROS1, but when it is used in ROS2, the data of a number of sensors will tend to zero indefinitely and the data will float in chaos. The warehouse has rewritten the driver code of the IMU CMP10A. So that it can read the data correctly in ROS2 HUMBLE.
https://github.com/y250ht/imu_ros2_cmp10a
imu-data imu-sensor ros2-humble
Last synced: about 1 month ago
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The nine-axis ARHS attitude sensor MEMS magnetometer bought from yahboom performs well in ROS1, but when it is used in ROS2, the data of a number of sensors will tend to zero indefinitely and the data will float in chaos. The warehouse has rewritten the driver code of the IMU CMP10A. So that it can read the data correctly in ROS2 HUMBLE.
- Host: GitHub
- URL: https://github.com/y250ht/imu_ros2_cmp10a
- Owner: Y250HT
- Created: 2024-11-09T01:10:54.000Z (about 1 month ago)
- Default Branch: main
- Last Pushed: 2024-11-09T01:58:32.000Z (about 1 month ago)
- Last Synced: 2024-11-09T02:24:24.788Z (about 1 month ago)
- Topics: imu-data, imu-sensor, ros2-humble
- Language: C++
- Homepage:
- Size: 537 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# IMU_ROS2_CMP10A
The nine-axis ARHS attitude sensor MEMS magnetometer bought from yahboom performs well in ROS1, but when it is used in ROS2, the data of a number of sensors will tend to zero indefinitely and the data will float in chaos. The warehouse has rewritten the driver code of the IMU CMP10A. So that it can read the data correctly in ROS2 HUMBLE.
## Install dependencies
you must have serial, and change CMakeLists.txt
```bash
$ git clone https://github.com/wjwwood/serial
$ make
$ make test
$ make doc
$ sudo make install
```
## Manually set your own serial library path
```bash
set(SERIAL_INCLUDE_DIR /home/nano/ws/src/serial/include)
set(SERIAL_LIBRARY /home/nano/ws/src/serial/build/libserial.a)
```
```bash
$ rosdep update
$ rosdep install --from-paths src --ignore-src -r -y --rosdistro humble
$ colcon build
```
## Use IMU_Driver
```bash
$ . install/setup.bash
$ ros2 launch gnss_imu_sim imu_driver_launch.py
```