IM1R_ROS_Driver

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Table of Contents

• IM1R_ROS_Driver
  • Table of Contents
  • Project Description
  • Getting Started
    • System Requirements
    • Installation Setups
  • Usage Instructions
  • Published Topics
  • Parameters Introductions
    • Standard Topic
      • imu/data
      • temperature
    • Custom Topic
      • im1r/extra
  • IM1R Configuration Tool
    • Starting the Tool
    • Changing Configuration Items
    • Notes
  • FAQ
    • Issue 1: Script Not Found
  • Contributing
  • License

Project Description

The project aims to develop and maintain ROS drivers suitable for IM1R-FB-U, a compact 6-axis inertial measurement module designed by DAISCH.

Getting Started

System Requirements

• Ubuntu 18.04 / ROS Melodic
• Ubuntu 20.04 / ROS Noetic

Installation Setups

1. Install ROS: Please refer to the ROS installation guide for detailed instructions.

2. Install Dependencies:

   Run the following commands to install dependencies based on your system's Python version:

   • For Ubuntu 18.04 / Python 2:

     sudo apt update
     sudo apt install python-pip
     pip install pyserial

   • For Ubuntu 20.04 / Python 3:

     sudo apt update
     sudo apt install python3-pip
     pip3 install pyserial

3. Create catkin workspace:

   mkdir -p ~/catkin_ws/src

4. Clone the project repository to the src directory of your catkin workspace:

   cd ~/catkin_ws/src
   git clone https://github.com/DAISCHSensor/IM1R_ROS_Driver.git

   • For Ubuntu 20.04 / Python 3, switch to the appropriate branch:

     cd IM1R_ROS_Driver
     git checkout ubuntu20.04-support

5. Build the driver:

   cd ~/catkin_ws/
   catkin_make

6. Update the .bashrc file:

   echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
   source ~/.bashrc

Usage Instructions

1. Connect IM1R via UART1 data cable.

2. Start the ROS master:

   roscore

3. Identify the serial port for the IM1R device:

   dmesg | grep tty

4. Set the serial port permissions: Assuming the IM1R device is connected to /dev/ttyUSB0:

   sudo chmod 666 /dev/ttyUSB0

5. Launch the driver node:

   rosrun im1r_ros_driver daisch_im1r_node.py /dev/ttyUSB0 115200

   • /dev/ttyUSB0 is the serial port.
   • 115200 is the baud rate used by IM1R, adjust it as needed.

6. List all the topic:

   rostopic list

7. echo the specific topic:

   rostopic echo imu/data

8. (Example Program) Subscribe to a topic:

   rosrun im1r_ros_driver subscriber_example.py

Published Topics

• imu/data (sensor_msgs/Imu) quaternion, angular velocity and linear acceleration
• temperature (sensor_msgs/Temperature) temperature from device
• im1r/extra (DAISCH Custom Topic) extra params from IM1R

Parameters Introductions

Standard Topic

imu/data

Variable	Supported
time header.stamp	✔️
string header.frame_id	✔️
float64 orientation.x	✔️
float64 orientation.y	✔️
float64 orientation.z	✔️
float64 orientation.w	✔️
float64[9] orientation_covariance	✘
float64 angular_velocity.x	✔️
float64 angular_velocity.y	✔️
float64 angular_velocity.z	✔️
float64[9] angular_velocity_covariance	✘
float64 linear_acceleration.x	✔️
float64 linear_acceleration.y	✔️
float64 linear_acceleration.z	✔️
float64[9] linear_acceleration_covariance	✘

temperature

Variable	Supported
time header.stamp	✔️
string header.frame_id	✔️
float64 temperature	✔️
float64 variance	✘

Custom Topic

im1r/extra

Variable	Type	Definition	Unit	Remarks
count	uint8	Message counter	-	0~255 cyclic increment
timestamp	uint64	Timestamp of the measurement	microseconds (µs)	UNIX time
pitch	float64	Pitch angle	degrees (°)
roll	float64	Roll angle	degrees (°)
yaw	float64	Yaw angle	degrees (°)
imu_status	uint8	IMU status indicator	-	Bit 0: Acceleration valid (0) / invalid (1) Bit 2: Angular velocity valid (0) / invalid (1) Higher bits are not defined
gyro_bias_x	float64	Gyroscope bias along the X axis	radians/second (rad/s)
gyro_bias_y	float64	Gyroscope bias along the Y axis	radians/second (rad/s)
gyro_bias_z	float64	Gyroscope bias along the Z axis	radians/second (rad/s)
gyro_static_bias_x	float64	Static gyroscope bias along the X axis	radians/second (rad/s)
gyro_static_bias_y	float64	Static gyroscope bias along the Y axis	radians/second (rad/s)
gyro_static_bias_z	float64	Static gyroscope bias along the Z axis	radians/second (rad/s)

IM1R Configuration Tool

Starting the Tool

1. Connect IM1R via UART2 debug cable.

2. Start the ROS core service:

   roscore

3. Identify the serial port of the IM1R device:

   dmesg | grep tty

4. Set serial port permissions: Assuming the IM1R device is connected to /dev/ttyUSB0:

   sudo chmod 666 /dev/ttyUSB0

5. Start the configuration tool:

   rosrun im1r_ros_driver daisch_im1r_config.py /dev/ttyUSB0

   • Ensure the serial port connected to IM1R is set to port 2, with a fixed baud rate of 115200.

6. After a successful start, the main interface will display the following content:

   

7. If the serial port connection fails, you will see the information in the image below. Please check if the device is correctly connected and reconfigure the serial port permissions.

   

Changing Configuration Items

Here are the steps to change the output frequency as an example:

1. Enter 2 in the main interface and press Enter to enter the submenu:

   

2. Select the desired output frequency from the submenu. After the configuration is successful, the tool will automatically return to the main menu. For example, after setting the output frequency to 50Hz, you can see the setting has been successfully changed in the main menu:

   

Notes

• The output frequency should match the baud rate. Mismatched baud rates and output frequencies can result in erroneous messages being received.

  Baud Rate	Maximum Output Frequency
  115200	100Hz
  230400	250Hz
  460800	500Hz
  921600	1000Hz

FAQ

Issue 1: Script Not Found

Symptom: Running rosrun im1r_ros_driver subscriber_example.py results in the following error:

[rosrun] Couldn't find executable named subscriber_example.py below /home/daisch/catkin_ws/src/im1r_ros_driver
[rosrun] Found the following, but they're either not files,
[rosrun] or not executable:
[rosrun]   /home/daisch/catkin_ws/src/im1r_ros_driver/scripts/subscriber_example.py

Solution: Grant executable permissions to the script:

chmod +x /home/daisch/catkin_ws/src/im1r_ros_driver/scripts/subscriber_example.py

If you have any other questions or need further assistance, feel free to ask.

Contributing

License

BSD-3-Clause