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use imu standalone nodes #165

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Aug 4, 2023
Merged

use imu standalone nodes #165

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3 changes: 2 additions & 1 deletion panther_bringup/README.md
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Expand Up @@ -5,11 +5,12 @@ The package containing default configuration and launch files necessary to start
## Default nodes launched

- `battery_node` - node responsible for monitoring and publishing internal battery state of the Husarion Panther robot. For more information refer to: [panther_battery](../panther_battery/README.md).
- `imu_manager` - nodelet managing Phidget Spatial IMU sensor.
- `imu_filter_node` - node responsible for filtering and fusing raw data from IMU.
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There should be two nodes. One for phidgets_spatial_node and one for imu_filter_node

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phidgets_spatial_node is described later in the list to keep alphabetical order

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Sorry. My bad

- `lights_driver_node` - node responsible for displaying frames on the Husarion Panther robot LED panels. For more information refer to: [panther_lights](../panther_lights/README.md).
- `lights_controller_node` - node responsible for processing animations and publishing frames to be displayed on the Husarion Panther robot LED panels. For more information refer to: [panther_lights](../panther_lights/README.md).
- `manager_bt_node` - node responsible for managing the Husarion Panther robot. Designs a system handling LED panels, safety features and software shutdown of components. For more information refer to: [panther_manager](../panther_manager/README.md).
- `panther_driver` - node responsible for communication with motor controllers and computing inverse and forward kinematics of a robot. For more information refer to: [panther_driver](../panther_driver/README.md).
- `phidgets_spatial_node` - Phidget Spatial IMU ROS driver.
- `power_control` - node responsible for power management of the Husarion Panther robot. For more information refer to: [panther_power_control](../panther_power_control/README.md).
- `robot_state_publisher` - node publishing description of the Husarion Panther robot. For more information refer to: [panther_description](../panther_description/README.md).

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4 changes: 2 additions & 2 deletions panther_bringup/config/imu_config.yaml
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@@ -1,4 +1,4 @@
ImuFilterNodelet:
imu_filter_node:
gain: 0.1
zeta: 0.0
mag_bias_x: 0.0
Expand All @@ -12,7 +12,7 @@ ImuFilterNodelet:
stateless: false
remove_gravity_vector: false

PhidgetsSpatialNodelet:
phidgets_spatial_node:
data_interval_ms: 8 # supported data rates: 4 8 16 24 32 40 ... 1000 (in ms)
publish_rate: 100.0 # optional param publish_rate, defaults to 0
# serial: 123456 # optional param serial, default is -1
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10 changes: 3 additions & 7 deletions panther_bringup/launch/imu.launch
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Expand Up @@ -6,15 +6,11 @@
<!-- Load IMU parameters -->
<rosparam command="load" file="$(arg imu_config_file)" />

<!-- Nodelet manager -->
<node pkg="nodelet" type="nodelet" name="imu_manager" output="screen" args="manager" launch-prefix="bash -c 'sleep 15; $0 $@' " />

<!-- Spatial Driver -->
<node pkg="nodelet" type="nodelet" name="PhidgetsSpatialNodelet" output="screen"
args="load phidgets_spatial/PhidgetsSpatialNodelet imu_manager" />
<node pkg="nodelet" type="nodelet" name="phidgets_spatial_node" output="screen"
args="standalone phidgets_spatial/PhidgetsSpatialNodelet" />

<!-- IMU Orientation Filter -->
<node pkg="nodelet" type="nodelet" name="ImuFilterNodelet" output="screen"
args="load imu_filter_madgwick/ImuFilterNodelet imu_manager" />
<node pkg="imu_filter_madgwick" type="imu_filter_node" name="imu_filter_node" output="screen" />

</launch>
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