Add phidgets spatial (#91)

* Add phidget spatial config and launch files

* Add dependency

* Double to single quotes

clearpath_sensors/config/phidgets_spatial.yaml

@@ -0,0 +1,22 @@
+phidgets_spatial:
+ ros__parameters:
+ # Communication
+ serial: -1
+ hub_port: 0
+ # ROS Message
+ frame_id: imu_link
+ publish_rate: 0.0
+ # Timing
+ time_resynchronization_interval_ms: 5000
+ data_interval_ms: 20
+ callback_delta_epsilon_ms: 1
+ # Algorithm
+ use_orientation: False
+ spatial_algorithm: ahrs
+ ahrs_angular_velocity_threshold: 1.0
+ ahrs_angular_velocity_delta_threshold: 0.1
+ ahrs_acceleration_threshold: 0.1
+ ahrs_mag_time: 10.0
+ ahrs_accel_time: 10.0
+ ahrs_bias_time: 1.25
+

clearpath_sensors/launch/phidgets_spatial.launch.py

@@ -0,0 +1,76 @@
+# Software License Agreement (BSD)
+#
+# @author Luis Camero <lcamero@clearpathrobotics.com>
+# @copyright (c) 2024, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+# may be used to endorse or promote products derived from this software
+# without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+ parameters = LaunchConfiguration('parameters')
+ namespace = LaunchConfiguration('namespace')
+
+ arg_namespace = DeclareLaunchArgument(
+ 'namespace',
+ default_value='')
+
+ arg_parameters = DeclareLaunchArgument(
+ 'parameters',
+ default_value=PathJoinSubstitution([
+ FindPackageShare('clearpath_sensors'),
+ 'config',
+ 'phidgets_spatial.yaml'
+ ]))
+
+ phidgets_node = ComposableNode(
+ package='phidgets_spatial',
+ plugin='phidgets::SpatialRosI',
+ name='phidgets_spatial',
+ namespace=namespace,
+ parameters=[parameters]
+ )
+
+ imu_processing_container = ComposableNodeContainer(
+ name='imu_processing_container',
+ namespace=namespace,
+ package='rclcpp_components',
+ executable='component_container',
+ composable_node_descriptions=[
+ phidgets_node,
+ ],
+ output='screen',
+ )
+
+ ld = LaunchDescription()
+ ld.add_action(arg_namespace)
+ ld.add_action(arg_parameters)
+ ld.add_action(imu_processing_container)
+ return ld

clearpath_sensors/package.xml

@@ -21,6 +21,7 @@
  <exec_depend>image_transport_plugins</exec_depend>
  <exec_depend>microstrain_inertial_driver</exec_depend>
  <exec_depend>nmea_navsat_driver</exec_depend>
+ <exec_depend>phidgets_spatial</exec_depend>
  <exec_depend>realsense2_camera</exec_depend>
  <exec_depend>spinnaker_camera_driver</exec_depend>
  <exec_depend>umx_driver</exec_depend>