IM1R_ROS_Driver

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Table of Contents

• IM1R_ROS_Driver
  • Table of Contents
  • Project Description
  • Getting Started
    • System Requirements
    • Installation Setups
  • Usage Instructions
  • Published Topics
  • Parameters Introductions
    • Standard Topic
      • imu/data
      • temperature
    • Custom Topic
      • im1r/extra
  • FAQ
    • Issue 1: Script Not Found
  • Contributing
  • License

Project Description

The project aims to develop and maintain ROS drivers suitable for IM1R-FB-U, a compact 6-axis inertial measurement module designed by DAISCH.

Getting Started

System Requirements

• Ubuntu 18.04 / ROS Melodic
• Ubuntu 20.04 / ROS Noetic

Installation Setups

1. Install ROS: Please refer to the ROS installation guide for detailed instructions.

2. Install Dependencies:

   Run the following commands to install dependencies based on your system's Python version:

   • For Ubuntu 18.04 / Python 2:

     sudo apt update
     sudo apt install python-pip
     pip install pyserial

   • For Ubuntu 20.04 / Python 3:

     sudo apt update
     sudo apt install python3-pip
     pip3 install pyserial

3. Create catkin workspace:

   mkdir -p ~/catkin_ws/src

4. Clone the project repository to the src directory of your catkin workspace:

   cd ~/catkin_ws/src
   git clone https://github.com/DaischSensor/im1r_ros1_driver.git

   • For Ubuntu 20.04 / Python 3, switch to the appropriate branch:

     cd im1r_ros1_driver
     git checkout ubuntu20.04-support

5. Build the driver:

   cd ~/catkin_ws/
   catkin_make

6. Update the .bashrc file:

   echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
   source ~/.bashrc

Usage Instructions

1. Connect IM1R via UART1 data cable.

2. Start the ROS master:

   roscore

3. Identify the serial port for the IM1R device:

   dmesg | grep tty

4. Set the serial port permissions: Assuming the IM1R device is connected to /dev/ttyUSB0:

   sudo chmod 666 /dev/ttyUSB0

5. Launch the driver node:

   • Verify the serial port used by IM1R, e.g./dev/ttyUSB0
   • Verify the baud rate used by IM1R, e.g.115200

   rosrun im1r_ros_driver daisch_im1r_node.py /dev/ttyUSB0 115200

6. List all the topic:

   rostopic list

7. echo the specific topic:

   rostopic echo imu/data

8. (Example Program) Subscribe to a topic:

   rosrun im1r_ros_driver subscriber_example.py

Published Topics

• imu/data (sensor_msgs/Imu) quaternion, angular velocity and linear acceleration
• temperature (sensor_msgs/Temperature) temperature from device
• im1r/extra (DAISCH Custom Topic) extra params from IM1R

Parameters Introductions

Standard Topic

imu/data

Variable	Supported
time header.stamp	✔️
string header.frame_id	✔️
float64 orientation.x	✔️
float64 orientation.y	✔️
float64 orientation.z	✔️
float64 orientation.w	✔️
float64[9] orientation_covariance	✘
float64 angular_velocity.x	✔️
float64 angular_velocity.y	✔️
float64 angular_velocity.z	✔️
float64[9] angular_velocity_covariance	✘
float64 linear_acceleration.x	✔️
float64 linear_acceleration.y	✔️
float64 linear_acceleration.z	✔️
float64[9] linear_acceleration_covariance	✘

temperature

Variable	Supported
time header.stamp	✔️
string header.frame_id	✔️
float64 temperature	✔️
float64 variance	✘

Custom Topic

im1r/extra

Variable	Type	Definition	Unit	Remarks
count	uint8	Message counter	-	0~255 cyclic increment
timestamp	uint64	Timestamp of the measurement	microseconds (µs)	UNIX time
pitch	float64	Pitch angle	degrees (°)
roll	float64	Roll angle	degrees (°)
yaw	float64	Yaw angle	degrees (°)
imu_status	uint8	IMU status indicator	-	Bit 0: Acceleration valid (0) / invalid (1) Bit 2: Angular velocity valid (0) / invalid (1) Higher bits are not defined
gyro_bias_x	float64	Gyroscope bias along the X axis	radians/second (rad/s)
gyro_bias_y	float64	Gyroscope bias along the Y axis	radians/second (rad/s)
gyro_bias_z	float64	Gyroscope bias along the Z axis	radians/second (rad/s)
gyro_static_bias_x	float64	Static gyroscope bias along the X axis	radians/second (rad/s)
gyro_static_bias_y	float64	Static gyroscope bias along the Y axis	radians/second (rad/s)
gyro_static_bias_z	float64	Static gyroscope bias along the Z axis	radians/second (rad/s)

FAQ

Issue 1: Script Not Found

Symptom: Running rosrun im1r_ros_driver subscriber_example.py results in the following error:

[rosrun] Couldn't find executable named subscriber_example.py below /home/daisch/catkin_ws/src/im1r_ros_driver
[rosrun] Found the following, but they're either not files,
[rosrun] or not executable:
[rosrun]   /home/daisch/catkin_ws/src/im1r_ros_driver/scripts/subscriber_example.py

Solution: Grant executable permissions to the script:

chmod +x /home/daisch/catkin_ws/src/im1r_ros_driver/scripts/subscriber_example.py

If you have any other questions or need further assistance, feel free to ask.

Contributing

License

BSD-3-Clause