ros_wit_imu_node

WIT motion’s IMU driver node for ROS2. Refer to wit_imu_driver in ROS1.

Installation

To install the ros_wit_imu_node, open a bash terminal, clone the package from Github, and build it:

cd ~/ros_ws/src/
git clone https://github.com/Ericsii/ros_wit_imu_node.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install

Usage

cd ~/ros_ws/src/
. ./install/setup.bash # use setup.zsh if using zsh as default shell
ros2 run wit_imu_driver wit_imu_node

Published Topics

  • ~/data_raw: IMU data (sensor_msg::Imu)
  • ~/temperature: Temperature from sensor in device (sensor_msgs::Temperature)
  • ~/mag: MagneticField (sensor_msg::MagneticField)

Parameters

  • gravity: Gravity at your site. Default: 9.797673
  • frame_id: frame_id of output topics. Default: imu_link
  • device: Device name to communicate. Default : /dev/ttyUSB0
  • baud: Communication baudrate. Default : 9600

Services

  • trigger_yaw_clear: Type std_srvs::Trigger
  • trigger_acc_calibration: Type std_srvs::Trigger
  • trigger_mag_calibration: Type std_srvs::Trigger
  • trigger_exit_calibration: Type std_srvs::Trigger

License

ros_wit_imu_node is under the terms of the MIT license.

GitHub

View Github