Razor IMU ROS2 Driver

ROS2 Driver for Razor IMU (Sparkfun Artemis), a C++ port of the ROS1 Python Driver.

Please see the ROS1 driver for details about IMU firmware and calibration process.

Mounting the IMU

Have the XYZ axis symbols aligned with REP 103. If you are using a Sparkfun OpenLog Artemis, This means the Type-C port is on the right of your robot, and the SD card slot faces down.

Updating Udev Rules

For your convenience, you can create a /etc/udev/rules.d/99-razor.rules:

KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="1a86", MODE="0666", GROUP="dialout", SYMLINK+="sensors/razor"

This mounts your IMU to /dev/sensors/razor. Re-plug in your IMU to take effect.

Building

git clone https://github.com/airacingtech/razor-imu-ros2.git
cd razor-imu-ros2
rosdep install --from-paths razor_imu_ros2/ --ignore-src -y -r
source /opt/ros/$ROS_DISTRO/setup.bash
colcon build

ROS Distro Support

The latest branch is foxy which would also build in Galactic with warnings.

Accepting PR that updates declare_parameter with Galactic practices and removes the TODOs in the code about TF2.

Accepting PR that fixes bugs or adds tests.