tamagawa_imu_driver (Beta version)

Usage

1. Connect the serial-USB converter to the IMU.

2. Execute command.(Change the launch file according to the IMU model)

   • roslaunch tamagawa_imu_driver serial_AU7554N.launch

3. The output frequency can be changed with rosparam.

   • /tamagawa_imu/frame_id = frame_id #Set the required frame id
   • /tamagawa_imu/type = "noGPS" or "withGPS" #Set according to IMU model
   • /tamagawa_imu/rate = 0~200 #Output frequency varies depending on IMU model
   • /tamagawa_imu/publish_air_pressure = true or false #Whether it can be output depends on the IMU model

4. Offset cancel reset method.

   ex.

   rostopic pub -1 /tamagawa_imu/receive_offset_cancel_req std_msgs/Int32 5

   The argument is the number of seconds to average. In this case, offset cancellation is performed on an average of 5 seconds.

5. Heading angle reset method.

   ex.

   rostopic pub -1 /tamagawa_imu/receive_heading_reset_req std_msgs/Int32 1

   The arguments can be anything.