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Package Summary

The SBG ROS Driver package

Installation

Standard Installation

sudo apt-get install ros-$ROS_DISTRO-sbg-driver

Installation from sources

  1. Clone the repository (use a Release version)

    https://github.com/ENSTABretagneRobotics/sbg_ros_driver

  2. Build using the normal ROS catkin build system
  3. Launch the driver using the provided launch file

Using Ellipse nodes

Get data from the Ellipse

Ellipse A

roslaunch sbg_driver sbg_ellipseA.launch

Ellipse E

roslaunch sbg_driver sbg_ellipseE.launch

Other type of Ellipse can be launch by creating your own launch file with a yaml configuration file.

Configuration of the Ellipse

You can edit the yaml configuration file to change the parameters of the Ellipse.

Publishers and Services (ellipse node)

Publishers

Serices:

ROS Message Types

ROS Message Types
SbgEkfEuler
SbgEkfNav
SbgEkfQuat
SbgEkfStatus
SbgEvent
SbgGpsHdt
SbgGpsPos
SbgGpsPosStatus
SbgGpsRaw
SbgGpsVel
SbgGpsVelStatus
SbgImuData
SbgImuStatus
SbgMag
SbgMagCalib
SbgMagStatus
SbgOdoVel
SbgPressure
SbgShipMotion
SbgShipMotionStatus
SbgStatus
SbgStatusAiding
SbgStatusCom
SbgStatusGeneral
SbgUtcTime
SbgUtcTimeStatus

Magnetic calibration (mag_calibration_ellipse node)

Ellipse-A/E/N use magnemoter to provide heading. A calibration is then required to compensate soft and hard iron distortions due to the environmenent (motors, batteries, ...). The magnetic calibration procedure should be held in a non magnetic area (outside of buildings).

  1. Roslaunch the calibration_sbg_ellipse.launch
  2. Send a request to the mag_calibration service to start the calibration process
  3. Proceed to rotations of your IMU (every orientations if possible)
  4. Send a request to the mag_calibration service to stop the calibration process. An analyse of the calibration is published in log (ROS_INFO)
  5. If the calibration is suitable, save the parameters to the Ellipse by sending a request to the mag_calibration_save service.

Q&A

Enable communication with the ellipse (linux)

Ensure that your user is added to the dialout group To add yourself to the dialout group preform the following :

sudo adduser username dialout

Create udev rules

ToDo

Troubleshooting

The driver may crash if the baud-rate is too law.


2018-10-13 13:19