<> <> == Supported Hardware == This driver supports all iXblue inertial sensors outputing stdbin protocol like the [[https://www.ixblue.com/products/atlans-series|Atlans]] and [[https://www.ixblue.com/products/phins-compact-series|Phins Compact]] series. {{attachment:atlans.png}} == INS Configuration == The INS should be configured through its web interface to output: * Protocol: IXBLUE STD BIN (any version between 2 and 5) * Rate: desired frequency * Physical Link: Ethernet * Transport Layer: UDP * IP: IP of the ROS computer * Port: 8200 {{attachment:network_config_page.png}} == Nodes == {{{ #!clearsilver CS/NodeAPI name = ixblue_ins_driver desc = ROS driver for iXblue inertial sensors supporting stdbin protocol pub { 0.name = ix/ins 0.type = ixblue_ins_msgs/Ins 0.desc = Inertial and position data using a custom message 1.name = standard/imu 1.type = sensor_msgs/Imu 1.desc = Standard ROS IMU message containing inertial data 2.name = standard/navsatfix 2.type = sensor_msgs/NavSatFix 2.desc = GNSS Position of the system in Standard ROS message 3.name = standard/timereference 3.type = sensor_msgs/TimeReference 3.desc = INS time reference } param { 0.name = ~udp_port 0.type = string 0.desc = The UDP port from which the system will receive INS data. 0.default = 8200 1.name = ~ip 1.type = string 1.desc = The address of the network interface to listen to. 1.default = 0.0.0.0 2.name = ~time_source 2.type = string 2.desc = Determine the source of the timestamp data. "ins" for ins timestamp. "ros" for ROS timestamp. 2.default = ins 3.name = ~time_origin 3.type = string 3.desc = Determine the time origin of the timestamp. "sensor_default" for ins base time. "unix" for UNIX base time (since 1st of january 1970). 3.default = unix } }}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage