The data_pub package contains scripts that interface with various sensors, currently interfacing with the IMU and DVL. You can launch all nodes in this package using the pub_all.launch file.
Publishes an sensor_msgs/IMU message to the sensors/imu/imu topic that contains information about
- orientation (using quaternions)
- angular velocity
- linear acceleration
and publishes a sensor_msgs/MagneticField message with magnetometer measurements to the sensors/imu/mag topic.
Locates the serial name of the IMU and reads its input as a string:
$VNQMR,-0.017057,-0.000767,+0.056534,+0.998255,+1.0670,-0.2568,+3.0696,
-00.019,+00.320,-09.802,-0.002801,-0.001186,-0.001582*65
This is parsed into its individual components to be published as parts of the IMU and MagneticField messages.
In the transition from the old computer (NUC) to the new computer (Jetson), certain physical devices need to be checked before running code.
First you want to make sure that both the IMU and (ADAPTER) are plugged into the robot before booting it up.
In this case we want to run the data_pub package's file IMU.py:
rosrun data_pub IMU.py
You can also use the launch file provided, pub_imu.launch.
You should see data being printed out in the following format for the sensor_msgs/IMU topic in this new terminal:
header:
seq: ####
stamp:
secs:####
nsecs: #########
frame_id: "STRING"
orientation:
x: X.X
y: X.X
z: X.X
w: X.X
orientation_covariance: [-1.0, 0, 0, 0, 0, 0, 0, 0, 0]
angular_velocity:
x: X.X
y: X.X
z: X.X
w: X.X
angular_velocity_covariance: [-1.0, 0, 0, 0, 0, 0, 0, 0, 0]
linear_acceleration:
x: X.XXXXXXXXXX
y: X.XXXXXXXXXX
z: X.XXXXXXXXXX
linear_acceleration_covariance: [-1.0, 0, 0, 0, 0, 0, 0, 0, 0]
The dvl_raw script publishes the raw DVL data using the dvl_raw message from our custom messages. It publishes to topic sensors/dvl/raw.
The dvl_to_odom script converts the raw dvl data to an odometry message for use in other scripts. It publishes to topic sensors/dvl/odom.
You can launch both scripts using the pub_dvl.launch file.