inertial_sense

A ROS wrapper for the InertialSense uINS2 GPS-INS sensor

NOTICE:

This node is in beta. Release is coming in the next few weeks. Until then, you will need to load the latest beta firmware on your uINS

(beta firmware link)[https://github.com/inertialsense/inertialsense_serial_protocol/releases/tag/v1.2-beta-0]

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

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

Make sure that you are a member of the dailout group, or you won't have access to the serial port.

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: 200)

  • The rate of odometry measurement streaming (Hz)

• ~sIMU(bool, default: false)

  • 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)

• ~sprint_imu (bool, default: false)

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

• ~sprint_imu_rate (int, default: 100)

  • The rate of preintegrated 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
• preint_imu (inertial_sense/DThetaVel)
  • preintegrated coning and sculling representation of IMU measurements