Documentation Status

Cannot load information on name: phidgets_imu, distro: electric, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
phidgets_drivers: phidgets_api | phidgets_c_api | phidgets_imu | phidgets_ir

Package Summary

Documented

Driver for the Phidgets Spatial 3/3/3 device.

phidgets_drivers: phidgets_api | phidgets_imu | phidgets_ir

Package Summary

Documented

Driver for the Phidgets Spatial 3/3/3 devices

phidgets_drivers: phidgets_api | phidgets_imu | phidgets_ir

Package Summary

Released Continuous integration Documented

Driver for the Phidgets Spatial 3/3/3 devices

  • Maintainer status: maintained
  • Maintainer: Murilo FM <muhrix AT gmail DOT com>, Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>
  • Author: Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>
  • License: BSD
  • Source: git https://github.com/ccny-ros-pkg/phidgets_drivers.git (branch: hydro)
phidgets_drivers: phidgets_api | phidgets_imu | phidgets_ir

Package Summary

Released Continuous integration Documented

Driver for the Phidgets Spatial 3/3/3 devices

phidgets_drivers: libphidget21 | phidgets_api | phidgets_imu

Package Summary

Released Continuous integration Documented

Driver for the Phidgets Spatial 3/3/3 devices

phidgets_drivers: libphidget21 | phidgets_api | phidgets_imu

Package Summary

Released Continuous integration Documented

Driver for the Phidgets Spatial 3/3/3 devices

Overview

The phidgets_imu package contains a ROS driver for the Phidgets Spatial 3/3/3 IMU sensor. The driver publishes the following data:

imu.png

You can use this driver in conjunction with imu_filter_madgwick or a similar IMU filter to get an estimate for the orientation of the sensor from the fused sensor readings.

An example launch file for using the driver together with a filter is included in the package.

ROS API

phidgets_imu_node / phidgets_imu_nodelet

The phidgets_imu_node_node publishes IMU data from the Phidgets Spatial device.

Published Topics

imu/data_raw (sensor_msgs/Imu)
  • The raw IMU data. Includes linear accelerations and angular velocities, but ***does not*** include orientation.
imu/mag (geometry_msgs/Vector3Stamped)
  • The magnetic orientation vector
imu/is_calibrated (std_msgs/Bool)
  • Whether the IMU has been calibrated

Services

imu/calibrate (std_srvs/Empty)
  • Tells the IMU to (re)calibrate its gyroscope biases. The service call returns once calibration is complete. A message will published to imu/is_calibrated for each call to imu/calibrate.

Parameters

~frame_id (string, default: "imu")
  • The name of the frame attached to the published messages
~period (double, default: 8)
  • A period (in ms) which determines the rate at which data is streamed.
~angular_velocity_stdev (double, default: 0.000349056)
  • the standard deviation of the angular velocity readings, in radians per second. Default value is 0.02 degrees/s, as per manual.
~linear_acceleration_stdev (double, default: 0.002943)
  • the standard deviation of the linear acceleration readings, in meters per second. Default value is 0.0003 g, as per manual.
~magnetic_field_stdev (double, default: 0.001658)
  • the standard deviation of the magnetic field readings, in radians per second. Default value is 0.001658 (0.095°/s), as per manual.

Wiki: phidgets_imu (last edited 2017-08-09 22:54:56 by Jose Luis Blanco)