mitch_v2_driver - ROS Wiki

See mitch_v2_driver on index.ros.org for more info including aything ROS 2 related.

Documentation Status

Contents

Introduction
Installation
Usage

Introduction

This package provides the official ROS driver for the 221e Multisensor InerTial CHamaleon (MITCH) V2 device.

Package available for:

ROS Noetic - Ubuntu 20.04
ROS Noetic - Windows 10

Installation

Install ROS and create a Catkin workspace

a. Ubuntu 20.04:

Install ROS Noetic on Ubuntu 20.04
Create your Catkin Workspace

b. Windows 10:

Install ROS Noetic on Windows 10
Open your ROS short cut terminal
Create your Catkin Workspace (in this tutorial, we assume that your catkin workspace is located in your c:\ directory)

Tips for Windows:

Remember to start your installation routine from the ROS command short cut (created in the installation step)
Assuming you are exploiting Microsoft Visual Studio 2019, remember to include the "Desktop development with C++" workload. Moreover, in the Individual Components, select "Windows 10 SDK".
if you need the Ninja build tool, go to the releases page and download a suitable binary for Windows. Place ninja.exe in a suitable spot, e.g., C:\Ninja. Make sure that CMake can find ninja.exe by adding C:\Ninja to your %PATH%.

To set up the catkin_make tools in Visual Studio 2019:

From the ROS shortcut, enter devenv to start your Visual Studio IDE;
Choose to open up your catkin workspace from your local folder;
As Visual Studio is using different settings for CMake projects, we need to configure the CMake file. Thus, click Project --> CMake Settings for Project and edit the JSON version of your Cmake settings file as follows:

{
  "configurations": [
    {
      "name": "x64-Debug",
      "generator": "Ninja",
      "configurationType": "RelWithDebInfo",
      "inheritEnvironments": [ "msvc_x64_x64" ],
      "buildRoot": "C:\\catkin_ws\\build",
      "installRoot": "C:\\catkin_ws\\install",
      "cmakeCommandArgs": "DCATKIN_DEVEL_PREFIX=C:\\catkin_ws\\devel",
      "ctestCommandArgs": ""
    }
  ]
}

In this way, Cmaking and building your project from Visual Studio will be equal to a catkin_make outside the Visual Studio environment. You can also open the Command Line directly from the Visual Studio Tools button.

Install lib221e

lib221e is the C++ library for the 221e Communication Protocol. Follow the installation instructions available here.

Clone mitch_v2_driver in your Catkin Workspace

a) Ubuntu:

$ cd ~/catkin_ws/src/
$ git clone https://github.com/221eROS/mitch_v2_driver.git
$ catkin_make

b) Windows:

$ cd c:\catkin_ws\src
$ git clone https://github.com/221eROS/mitch_v2_driver.git
$ cd ..
$ catkin_make

Usage

Device connection

Switch on your MITCH V2 device. From your catkin workspace, launch the following command to connect to your sensor and enable its ROS node:

$ roslaunch mitch_v2_driver mitch_v2.launch

Among others, this launch file allows you to set: - port name (Default: COM4); - baudrate (Default: 115200).

Device shutdown

Assuming the ROS node of your MITCH V2 sensor is active [step 3(a)], launch the following command to switch off your device:

$ roslaunch mitch_v2_driver shutdown.launch

Battery charge and voltage

Assuming the ROS node of your MITCH V2 sensor is active [step 3(a)], type the following command from your catkin workspace:

$ roslaunch mitch_v2_driver battery.launch

The node will send back the battery charge, its voltage, or both depending on whether the arguments *charge* and *voltage* are set to *true*.

Firmware version