Epson Sensing System Sensors

Overview

• The ROS drivers are intended for evaluation of the Epson IMUs on a ROS1 (or ROS2) system.
• There are different Epson 6DOF IMU models with various sensing ranges that can be evaluated in a ROS based system.
• These are performance-oriented products with a combination of low power consumption and small size.
• G3xx models are intended for board-level integration using a SPI or UART interface
• G552PR models are intended for remote cabled mounting in harsh environments exposed to moisture or dust connected using an RS422 UART interface

• For more detailed product info & specifications please refer to Epson Sensing System

• These ROS drivers are available for download from

  • GitHub or

  • Epson VDC Website

Supported Devices

• The ROS drivers are maintained to support the following Epson products:
  • G370PDF / G370PDS / G370PDG / G370PDT
  • G330PDG / G366PDG
  • G365PDC / G365PDF
  • G364PDC
  • G354PDH

Requirements

ROS Platform

• The ROS drivers have been tested on the following host platforms:
  • Intel PCs running Ubuntu 20.x, or 22.x
  • Raspberry Pi 2, 3+, 4 running Ubuntu Mate 20.x, 22.x

Serial Interfaces

• The latest driver package supports either serial interface connection to the Epson device (previous driver for UART or SPI were separate)
• The use of one ROS driver package supports either SPI or UART
• For G552PRx build the driver package selecting the UART interface
  • The ROS system must have a RS422 I/O compatible UART interface (UART protocol over RS422 Physical Layer) for connecting to the G552PRx IMU

How to Use This Software

• Click on the link below for the relevant combination of ROS version and serial interface type:

  • ROS1 UART or SPI Interface

  • ROS2 UART or SPI Interface

Technical Support

• For technical support or related issues using this ROS software, please email sensingsystem_support@ea.epson.com