use imu standalone nodes (#165)

husarion · Aug 4, 2023 · 227a061 · 227a061
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diff --git a/panther_bringup/README.md b/panther_bringup/README.md
@@ -5,11 +5,12 @@ The package containing default configuration and launch files necessary to start
 ## Default nodes launched
 
 - `battery_node` - node responsible for monitoring and publishing internal battery state of the Husarion Panther robot. For more information refer to: [panther_battery](../panther_battery/README.md).
-- `imu_manager` - nodelet managing Phidget Spatial IMU sensor.
+- `imu_filter_node` - node responsible for filtering and fusing raw data from IMU.
 - `lights_driver_node` - node responsible for displaying frames on the Husarion Panther robot LED panels. For more information refer to: [panther_lights](../panther_lights/README.md).
 - `lights_controller_node` - node responsible for processing animations and publishing frames to be displayed on the Husarion Panther robot LED panels. For more information refer to: [panther_lights](../panther_lights/README.md).
 - `manager_bt_node` - node responsible for managing the Husarion Panther robot. Designs a system handling LED panels, safety features and software shutdown of components. For more information refer to: [panther_manager](../panther_manager/README.md).
 - `panther_driver` - node responsible for communication with motor controllers and computing inverse and forward kinematics of a robot. For more information refer to: [panther_driver](../panther_driver/README.md).
+- `phidgets_spatial_node` - Phidget Spatial IMU ROS driver.
 - `power_control` - node responsible for power management of the Husarion Panther robot. For more information refer to: [panther_power_control](../panther_power_control/README.md).
 - `robot_state_publisher` - node publishing description of the Husarion Panther robot. For more information refer to: [panther_description](../panther_description/README.md).
 

diff --git a/panther_bringup/config/imu_config.yaml b/panther_bringup/config/imu_config.yaml
@@ -1,4 +1,4 @@
-ImuFilterNodelet:
+imu_filter_node:
   gain: 0.1
   zeta: 0.0
   mag_bias_x: 0.0
@@ -12,7 +12,7 @@ ImuFilterNodelet:
   stateless: false
   remove_gravity_vector: false
 
-PhidgetsSpatialNodelet:
+phidgets_spatial_node:
   data_interval_ms: 8 # supported data rates: 4 8 16 24 32 40 ... 1000 (in ms)
   publish_rate: 100.0 # optional param publish_rate, defaults to 0
   # serial: 123456  # optional param serial, default is -1

diff --git a/panther_bringup/launch/imu.launch b/panther_bringup/launch/imu.launch
@@ -6,15 +6,11 @@
   <!-- Load IMU parameters -->
   <rosparam command="load" file="$(arg imu_config_file)" />
 
-  <!-- Nodelet manager -->
-  <node pkg="nodelet" type="nodelet" name="imu_manager" output="screen" args="manager" launch-prefix="bash -c 'sleep 15; $0 $@' " />
-
   <!-- Spatial Driver -->
-  <node pkg="nodelet" type="nodelet" name="PhidgetsSpatialNodelet" output="screen"
-    args="load phidgets_spatial/PhidgetsSpatialNodelet imu_manager" />
+  <node pkg="nodelet" type="nodelet" name="phidgets_spatial_node" output="screen"
+    args="standalone phidgets_spatial/PhidgetsSpatialNodelet" />
 
   <!-- IMU Orientation Filter -->
-  <node pkg="nodelet" type="nodelet" name="ImuFilterNodelet" output="screen"
-    args="load imu_filter_madgwick/ImuFilterNodelet imu_manager" />
+  <node pkg="imu_filter_madgwick" type="imu_filter_node" name="imu_filter_node" output="screen" />
 
 </launch>