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imu_drivers: microstrain_3dmgx2_imu

Package Summary

A driver for IMUs compatible the microstrain 3DM-GX2 and 3DM-GX3 protocol. Includes a heavily modified standalone driver pulled from the player distribution, and a ROS node.

imu_drivers: microstrain_3dmgx2_imu

Package Summary

A driver for IMUs compatible the microstrain 3DM-GX2 and 3DM-GX3 protocol. Includes a heavily modified standalone driver pulled from the player distribution, and a ROS node.

imu_drivers: microstrain_3dmgx2_imu

Package Summary

A driver for IMUs compatible the microstrain 3DM-GX2 and 3DM-GX3 protocol. Includes a heavily modified standalone driver pulled from the player distribution, and a ROS node.

imu_drivers: microstrain_3dmgx2_imu

Package Summary

A driver for IMUs compatible the microstrain 3DM-GX2 and 3DM-GX3 protocol. Includes a heavily modified standalone driver pulled from the player distribution, and a ROS node.

pr2: audio_common | camera1394 | hokuyo_node | joystick_drivers | linux_networking | microstrain_3dmgx2_imu | pr2_base | pr2_ethercat_drivers | pr2_navigation_apps | pr2_power_drivers | pr2_robot | prosilica_camera | sicktoolbox | sicktoolbox_wrapper | wge100_driver | wifi_ddwrt

Package Summary

A driver for IMUs compatible the microstrain 3DM-GX2 and 3DM-GX3 protocol. Includes a heavily modified standalone driver pulled from the player distribution, and a ROS node.

Package Summary

A driver for IMUs compatible the microstrain 3DM-GX2 and 3DM-GX3 protocol. Includes a heavily modified standalone driver pulled from the player distribution, and a ROS node.

Package Summary

A driver for IMUs compatible the microstrain 3DM-GX2 and 3DM-GX3 protocol. Includes a heavily modified standalone driver pulled from the player distribution, and a ROS node.

  • Maintainer status: maintained
  • Maintainer: Chad Rockey <chadrockey AT gmail DOT com>
  • Author: Jeremy Leibs, Blaise Gassend
  • License: LGPL

Package Summary

A driver for IMUs compatible the microstrain 3DM-GX2 and 3DM-GX3 protocol. Includes a heavily modified standalone driver pulled from the player distribution, and a ROS node.

imu.png

(original 3DM-GX2 coordinate system)

Who Should Use this Package?

Supported Hardware

This driver should work with IMUs that use the Microstrain 3DM-GX2 protocol.

API Stability

The ROS API of this node should be considered stable.

While a C++ API exists, it has not been reviewed and should be considered unstable.

ROS API

imu_node

imu_node is a driver for the 3DM-GX2 Inertial Measurement Unit. It publishes orientation, angular velocity and linear acceleration as well as their covariances, and complies with the IMU API. This node only provides streaming access to message 0xC8 (Acceleration, Angular Rate and Orientation), the unsupported C++ API gives access to a broader range of message types.

Published Topics

imu/data (sensor_msgs/Imu) diagnostics (diagnostic_msgs/DiagnosticArray) imu/is_calibrated (std_msgs/Bool)

Services

~self_test (diagnostic_msgs/SelfTest) imu/calibrate (std_srvs/Empty)

Parameters

~port (string, default: /dev/ttyUSB0) ~frame_id (string, default: imu) ~autocalibrate (bool, default: true) ~orientation_stdev (double, default: 0.035) ~angular_velocity_stdev (double, default: 0.012) ~linear_acceleration_stdev (double, default: 0.098) ~max_drift_rate (double, default: 0.0001) ~assume_calibrated (bool, default: false)

Communication Protocol Manual

The 3DM-GX2 protocol can be found here.


2018-10-13 12:55