Only released in EOL distros:

See carl_phidgets on index.ros.org for more info including anything ROS 2 related.

Package Links

Dependencies (8)
Used by (1)

Package Summary

ROS Support for the Phidgets Spatial 3/3/3 Devices for use with the CARL Robot

Maintainer status: maintained
Maintainer: David Kent <dekent AT gatech DOT edu>
Author: David Kent <dekent AT gatech DOT edu>, Russell Toris <russell.toris AT gmail DOT com>
License: BSD
Bug / feature tracker: https://github.com/GT-RAIL/carl_bot/issues
Source: git https://github.com/GT-RAIL/carl_bot.git (branch: master)

Contents

About
Nodes
1. phidgets_imu_node
2. orientation_filter
  1. Subscribed Topics
  2. Published Topics
Installation
First Time Sensor Setup
Startup

About

The carl_phidgets package provides a ROS wrapper for the PhidgetSpatial Precision 3/3/3 High Resolution or the PhidgetSpatial 3/3/3 Basic sensors, and nodes that support useful IMU functionality. This includes a Kalman filter for a base sensor and a top frame sensor to determine the orientation of the base and top frame, respectively.

Nodes

phidgets_imu_node

ROS wrapper that allows data to be read from an IMU.

Published Topics

imu/data_raw (sensor_msgs/Imu)

IMU data, including 3-axis angular velocities, linear accelerations, and covariance for both (the orientation and orientation covariance are unused).

imu/mag (geometry_msgs/Vector3Stamped)

3-axis magnetic orientation vector.

imu/is_calibrated (invalid message type for MsgLink(msg/type))

Publishes true whenever calibration is performed on the IMU.

Services

imu/calibrate (std_srvs/Empty)

Calibrates or recalibrates the IMU's gyro.

Parameters

period (int, default: 8)

Period at which to read data, in ms (4-1000 ms).

frame_id (string, default: imu)

Coordinate frame of the sensor.

angular_velocity_stdev (double, default: .000349)

Angular velocity standard deviation (rad/s).

linear_acceleration_stdev (double, default: .002943)

Linear acceleration standard deviation (m/s^2).

serial_number (int, default: -1)

Unique sensor serial number (-1 to use any detected sensor).

orientation_filter

Kalman filter sensor fusion for CARL's base and frame IMUs, to determine orientation.

Subscribed Topics

imu_base/data_raw (sensor_msgs/Imu)

IMU data from the base sensor.

imu_top/data_raw (sensor_msgs/Imu)

IMU data from the top frame sensor.

Published Topics

frame_joint_states (sensor_msgs/JointState)

Joint positions for the base and top frame, used for updating the transforms of the robot.

Installation

To install the carl_bot package, you can install from source with the following commands:

Toggle line numbers
```
   1 cd /(your catkin workspace)/src
   2 git clone https://github.com/WPI-RAIL/carl_bot.git
   3 cd ..
   4 catkin_make
   5 catkin_make install
```

First Time Sensor Setup

To use the Phidgets IMU as a user other than root, you need to create a udev rule. Create a file called 99-phidgets.rules, with the following line:

SUBSYSTEMS=="usb", ACTION=="add", ATTRS{idVendor}=="06c2", ATTRS{idProduct}=="00[3-a][0-f]", MODE="666"

Copy this file into the /etc/udev/rules.d directory. You may need to reboot your computer for this to take effect.

Startup

The two IMU's placed on CARL can be launched with the following launch file:

```
roslaunch carl_phidgets imu.launch
```

The orientation filter can be started with:

```
rosrun carl_phidgets orientation_filter
```

Individual IMUs can be started with by running the IMU node separately, and specifying the sensor's unique serial number.

rosrun carl_phidgets phidgets_imu_node _serial_number:=xxxxxx