ROS Software Maintainer: Clobot

Overview

Clober Robot

Myahrs ROS2 Driver package is a ROS2 driver for the myAHRS+ which is a low cost high performance AHRS(Attitude Heading Reference System). Using this package, users can create the format of IMU sensor_msgs in ROS2 system.

Video

ROS API

myahrs_ros2_driver

'myahrs_ros2_driver' is a ROS2 driver for the myAHRS+ which is a low cost high performance AHRS(Attitude Heading Reference System).

Published Topics

imu/data_raw (sensor_msgs/Imu)
  • raw data of linear_acceleration and angular_velocity from myahrs+.
imu/data (sensor_msgs/Imu)
  • orientation data from myahrs+, including raw data of linear_acceleration and angular_velocity.
imu/mag (sensor_msgs/MagneticField)
  • magnetic_field data from myahrs+.
imu/temperature (std_msgs/Float64)
  • temperature data from myahrs+.

Parameters

~angular_velocity_stddev (double, default: 0.002428)
  • square root of the angular_velocity_covariance diagonal elements in rad/s.
~linear_acceleration_stddev (double, default: 0.026831)
  • square root of the linear_acceleration_covariance diagonal elements in m/s^2.
~magnetic_field_stddev (double, default: 0.00000327468)
  • square root of the magnetic_field_covariance diagonal elements in Tesla.
~orientation_field_stddev (double, default: 0.002143)
  • square root of the orientation_covariance diagonal elements in rad.

Wiki: myahrs_ros2_driver (last edited 2021-07-12 01:34:52 by clobot)