inertial_sense

A ROS wrapper for the InertialSense uINS2 GPS-INS sensor

Functionality

• INS full odometry streaming
• Dual IMU streaming
• Full GPS data streaming
• Magnetomter streaming
• Barometer streaming
• Coning and Sculling integral streaming
• Timestamping uses GPS timestamps when available and syncs sensor messages with ROS time if unavailable.
• Flash configuration via parameters
• Changing dynamic model via parameter

ToDo

• Adjusting rate of streaming and flash configuration on-the-fly with dynamic reconfigure

Installation

This is a ROS package, with the InertialSenseSDK as a submodule, so just create a catkin workspace, clone this into the src folder, pull down the submodule and build

mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_init_workspace
git clone https://superjax/inertial_sense
cd inertial_sense
git submodule update --init --recursive
cd ../..
catkin_make

Running the Node

rosrun inertial_sense inertial_sense_node

For changing parameter values and topic remapping from the command line using rosrun refer to the Remapping Arguments page. For setting vector parameters, use the following syntax:

rosparam set /inertial_sense_node/GPS_ref_lla "[40.25, -111.67, 1556.59]"
rosrun inertial_sense inertial_sense_node

For setting parameters and topic remappings from a launch file, refer to the Roslaunch for Larger Projects page.

Parameters

• ~port (string, default: "/dev/ttyUSB0")

  • Serial port to connect to

• ~baud (int, default: 3000000)

  • baudrate of serial communication

• ~frame_id (string, default "body")

  • frame id of all measurements

• ~sINS (bool, default: true)

  • Whether to stream the full 12-DOF odometry measurement

• ~sINS_rate (int, default: 100)

  • The rate of odometry measurement streaming (Hz)

• ~sIMU(bool, default: true)

  • Whether to stream IMU measurements

• ~sIMU_rate(int, default: 100)

  • The rate of IMU measurement streaming (Hz)

• ~sGPS(bool, default: true)

  • If true, the node will stream GPS measurements

• ~sGPS_rate(int, default: 10)

  • The rate of GPS message streaming (Hz)

• ~sGPS_info(bool, default: true)

  • If true, the node will stream GPS measurements

• ~sGPS_info_rate(int, default: 10)

  • The rate of GPS message streaming (Hz)

• ~sbaro (bool default: true)

  • If true, the node will stream barometer measurements

• ~sbaro_rate (int, default: 100)

  • The rate of barometer streaming (Hz)

• ~smag (bool, default: true)

  • If true, the node will stream both magnetometer measurements

• ~smag_rate (int, default: 100)

  • The rate of magnetometer streaming (Hz)

• ~sdelta_theta_vel (bool, default: false)

  • If true, the node will stream coning and sculling integral versions of IMU measurements

• ~sdelta_theta_vel_rate (int, default: 100)

  • The rate of coning and sculling integral message streaming

• ~INS_rpy (vector(3), default: {0, 0, 0})

  • The roll, pitch, yaw rotation from the INS frame to the output frame

• ~INS_xyz (vector(3), default: {0, 0, 0})

  • The NED translation vector between the INS frame and the output frame (wrt output frame)

• ~GPS_ang_xyz (vector(3), default: {0, 0, 0})

  • The NED translation vector between the INS frame and the GPS antenna (wrt INS frame)

• ~GPS_ref_lla (vector(3), default: {0, 0, 0})

  • The Reference longitude, latitude and altitude for NED calculation in degrees, degrees and meters

• ~inclination (float, default: 1.14878541071)

  • The inclination of earth's magnetic field (radians)

• ~declination (float, default: 0.20007290992)

  • The declination of earth's magnetic field (radians)

• mag_magnitude (float, default: 1.0)

  • Earth magnetic field (magnetic north) magnitude (nominally 1)

• dynamic_model (int, default: 8)

  • Dynamic model used in internal filter of uINS.
    • 0 = portable
    • 2 = stationary
    • 3 = pedestrian
    • 4 = automotive
    • 5 = sea
    • 6 = airborne 1G
    • 7 = airborne 2G
    • 8 = airborne 4G
    • 9 = wrist

Topics

• imu1/(sensor_msgs/Imu)
  • Imu measurements from IMU1 (NED frame)
• imu2/(sensor_msgs/Imu)
  • Imu measurements from IMU2 (NED frame)
• ins/(nav_msgs/Odometry)
  • full 12-DOF measurements from onboard estimator (NED frame)
• gps/(inertial_sense/GPS)
  • full GPS measurement from onbaord GPS
• gps/info(inertial_sense/GPSInfo)
  • sattelite information and carrier noise ratio array for each sattelite
• mag1 (sensor_msgs/MagneticField)
  • magnetic field measurement from magnetometer 1
• mag2 (sensor_msgs/MagneticField)
  • magnetic field measurement from magnetometer 2
• baro (sensor_msgs/FluidPressure)
  • barometer measurements in kPa
• delta_theta_vel (inertial_sense/DThetaVel)
  • coning and sculling integral representation of IMU measurements