<> <> == Overview == This is a driver package for the WITHROBOT's [[http://www.withrobot.com/myahrs_plus_en/|myAHRS+]] from [[http://www.lilliputdirect.com/odroid-myahrs|lilliputdirect]] and [[http://www.hardkernel.com/main/products/prdt_info.php?g_code=G141464363369|hardkernel]] . The myAHRS+ is a low cost high performance AHRS(Attitude Heading Reference System) with USB/UART/I2C interface. The myAHRS+ board contains a 3-axis 16-bit gyroscope, a 3-axis 16-bit accelerometer and a 3-axis 13-bit magnetometer. The driver should also work with USB port. === Axes Convention === {{attachment:myahrs_plus_axes.png||align=right,width=320}} The myAHRS+ board used NED type. The myahrs_driver contained in this package converts to the frame conventions of ROS (use the east north up (ENU) convention and right hand rule) before publishing the msgs. The driver use the coordinate frame below. Please see [[http://www.ros.org/reps/rep-0103.html#axis-orientation|REP-0103]] for more information. * x forward * y left * z up * NED type IMU: x-north, y-east, z-down, relative to magnetic north. * ENU type IMU: x-east, y-north, z-up, relative to magnetic north. === Original Source === The original source (not support ROS) is maintained github below and tutorials are on the corresponding wiki page. A 3D visualization test like 3D-box is included in this original source. This package used the myAHRS+ SDK below. https://github.com/withrobot/myAHRS_plus == Video == This is a visualization demonstration using RViz. <> == Installation == Install the package: {{{ sudo apt-get install ros-indigo-myahrs-driver }}} Install the package from the github: {{{ cd ~/catkin_ws/src git clone https://github.com/robotpilot/myahrs_driver.git cd ~/catkin_ws && catkin_make }}} == Run == Run the driver like so: {{{ rosrun myahrs_driver myahrs_driver _port:=/dev/ttyACM0 }}} or {{{ roslaunch myahrs_driver myahrs_driver.launch }}} == Nodes == {{{ #!clearsilver CS/NodeAPI node.0 { name = myahrs_driver desc = myahrs_driver node is a driver for the myAHRS+ Inertial Measurement Unit(IMU). It publishes orientation, angular velocity and linear acceleration as well as their covariances, and complies with the [[http://www.ros.org/reps/rep-0103.html#axis-orientation|REP103]] and [[https://github.com/paulbovbel/rep/blob/master/rep-0145.rst|REP145]] (draft) about conventions for IMU sensor drivers. pub { 0.name = imu/data_raw 0.type = sensor_msgs/Imu 0.desc = raw data of linear_acceleration and angular_velocity from device. 1.name = imu/data 1.type = sensor_msgs/Imu 1.desc = orientation, linear_acceleration, and angular_velocity data from device. 2.name = imu/mag 2.type = sensor_msgs/MagneticField 2.desc = magnetic_field data from device. 3.name = imu/temperature 3.type = std_msgs/Float64 3.desc = Temperature sensed from device, in degrees centigrade. } param { 0.name = ~port 0.type = string 0.desc = The port the imu is running on. 0.default= /dev/ttyACM0 1.name = ~baud_rate 1.type = int 1.desc = Baud rate of serial device. 1.default = 115200 2.name = ~frame_id 2.type = string 2.desc = The frame ID to set in outgoing messages. 2.default = imu_link 3.name = ~parent_frame_id_ 3.type = string 3.desc = The parent frame ID of frame_id(imu_link) to use the tf. 3.default = base_link 4.name = ~linear_acceleration_stddev 4.type = double 4.desc = Square root of the linear_acceleration_covariance diagonal elements in m/s^2. 4.default = 0.026831 5.name = ~angular_velocity_stddev 5.type = double 5.desc = Square root of the angular_velocity_covariance diagonal elements in rad/s. 5.default = 0.002428 6.name = ~magnetic_field_stddev 6.type = double 6.desc = Square root of the magnetic_field_covariance diagonal elements in Tesla. 6.default = 0.00000327486 7.name = ~orientation_stddev 7.type = double 7.desc = Square root of the orientation_covariance diagonal elements in rad. 7.default = 0.002143 } } }}} == Communication Protocol Manual and Forum == The myAHRS+ protocol can be found [[https://github.com/withrobot/myAHRS_plus/tree/master/tutorial|here]]. The Forum for myAHRS+ user can be found [[http://forum.odroid.com/viewforum.php?f=109|here]]. == Report a bug == https://github.com/robotpilot/myahrs_driver/issues ## AUTOGENERATED DON'T DELETE ## CategoryPackage