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Package Summary

ROS1 package for Epson IMU using UART interface based on C++ wrapper of Linux C driver

Package Summary

ROS1 package for Epson IMU using UART interface based on C++ wrapper of Linux C driver

Epson IMU ROS1 Node UART ** Deprecated **

*** NOTE: This package has been superceded by Epson IMU ROS1 Driver Node***

*** This webpage will no longer be updated ***


ess_sensors/g552.jpg ess_sensors/g370.jpg ess_sensors/g365.jpg

Overview


UART Connection & Configuration


ROS1 Node


Published Topics

Launch File

Timestamping With EXT Signal

Building & Installing ROS1 Node


1. Place this package (including folders) into a new folder within your catkin workspace "src" folder.

2. Modify the CMakeLists.txt to select the desired Epson IMU model that is being used in the ROS system.

3. From the catkin workspace folder run catkin_make to build all changed ROS1 packages located in the <catkin_workspace>/src/ folder. 4. Reload the current ROS1 environment variables that may have changed after the catkin build process.

<catkin_workspace>/source devel/setup.bash

5. Modify the appropriate roslaunch/XML to set your desired IMU init parameters for the specific IMU model in the launch folder that you selected and built

Running the ROS1 Node


<catkin_workspace>/roslaunch ess_imu_ros1_uart_driver epson_g370.launch

USB-UART Latency


Modify latency_timer by sysfs mechanism

cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
16
echo 1 > /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
1

Modify low_latency flag using setserial utility

user@user-VirtualBox:~$ setserial /dev/ttyUSB0
/dev/ttyUSB0, UART: unknown, Port: 0x0000, IRQ: 0

user@user-VirtualBox:~$ setserial /dev/ttyUSB0 low_latency

user@user-VirtualBox:~$ setserial /dev/ttyUSB0
/dev/ttyUSB0, UART: unknown, Port: 0x0000, IRQ: 0, Flags: low_latency

Technical Support



2024-09-28 14:10