ros2_wheeltec_n100_imu

ROS2 driver pkg for WHEELTEC N100 IMU module.

topics:

• /imu
• /imu_trueEast
• /magnetic_field
• /magnetic_pose_2d

install

mkdir -p /ros2_ws/src
cd /ros2_ws/src
git clone https://github.com/RoverRobotics-forks/serial-ros2.git #install ros2_serial
git clone https://github.com/NDHANA94/ros2_wheeltec_n100_imu.git
cd ~/ros2_ws
colcon build
source install/setup.bash

run

• defaut run: default serial port: /dev/ttyACM0 default serial baudrate: 921600

ros2 run wheeltec_n100_imu imu_node 

• run with custom params:

ros2 run wheeltec_n100_imu imu_node --ros-args -p serial_port:="/dev/ttyACM0" -p serial_baud:=921600

parameter	data type	default value
debug	bool	false
serial_port	string	"/dev/ttyACM0"
serial_baud	int	921600
serial_timeout	int	20
device_type	int	1
frist_sn	bool	false
imu_topic	string	"imu"
imu_frame imu	string	"imu"
mag_pose_2d_topic	string	"magnetic_pose_2d"
imu_trueEast_topic	string	"imu_trueEast"
mag_topic	string	"magnetic_field"
yaw_offset	double	-2.094
mag_offset_x	double	0.0
mag_offset_y	double	0.0
mag_offset_z	double	0.0
imu_mag_covVec	vector	{0.01, 0.01, 0.01}
imu_gyro_covVec	vector	{0.01, 0.01, 0.01}
imu_accel_covVec	vector	{0.05, 0.05, 0.05}

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The code is based on ROS1 fdilink imu driver