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Package Summary

Maintainer status: maintained

Maintainer: Rocwang <825213566@qq.com>

Download: https://github.com/yowlings/wit_node.git

Author: Rocwang

License: BSD

This is the ROS nodelet package for wit motion company imu and gps sensor. Providing driver, ros driver and nodelet intergrating program.The wit motion 9-axies IMU and GPS module provides abundant types of data for user, including nine axises data, atmosphere pressure, temperature, latitude,longitude, altitude, satellites number .etc

Usage

Launch the only ROS launch file:

roslaunch wit_node wit.launch

Dependencies and Install

1. ROS

2. ros-<distro>-ecl

Install ecl by

sudo apt install ros-<distro>-ecl

Nodes

wit

The wit ros node for getting IMU&GPS module data and publishing related topics.

Subscribed Topics

~<name>/reset_offset (std_msgs/Empty)

• Reset the offset yaw angle to current yaw, so the zero direction is turned to current direction.

Published Topics

~<name>/raw_data (wit_node/ImuGpsRaw)

• All raw data provided by the wit device, including nine axises data, atmosphere pressure, temperature, latitude,longitude, altitude, satellites number .etc

/imu (sensor_msgs/Imu)

• The standard ROS imu sensor msg which include orientation by filtered RPY.

/gps (sensor_msgs/NavSatFix)

• The standard ROS gps or navigation satellites msg.

~<name>/related_yaw (std_msgs/Float64)

• The offseted imu yaw data, which means the zero direction is start direction.

Parameters

~port (string, default: /dev/ttyUSB0)

• the device port name.