# usb_imu_ros

**Repository Path**: stefantasy/usb_imu_ros

## Basic Information

- **Project Name**: usb_imu_ros
- **Description**: 解析IMU串口发来的数据，变成ros的格式
- **Primary Language**: C++
- **License**: BSD-3-Clause
- **Default Branch**: backup
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 1
- **Created**: 2022-05-08
- **Last Updated**: 2023-12-26

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

#usb_imu_ros
#### create udev rules
- sudo ./create_uedv.sh 
- ls /dev/imu 
- sudo apt-get install ros-noetic-serial
- cd ../..
- catkin_make



#### support ros 
- 16.04 LTS 
- 18.04 LTS 
- 20.04 LTS

#### Publis hed Topics

* **`imu/data_raw`** ([sensor_msgs::Imu])

	The measured accelerometer, gyro and orientation values.

* **`imu/temperature`** ([sensor_msgs::Temperature])

	The measured temperature in degrees Celsius.
	
* **`imu/MagneticField`** ([sensor_msgs::MagneticField])

	Measurement of the Magnetic Field vector at a specific location.
	x, y, and z components of the field vector in Tesla

#### Published TF Transforms

*	The resulting orientation can be published as a tf transform, the frame names can be set using parameters.


#### Services

* **`set_zero_orientation`** ([std_srvs/Empty])

	This service sets the current orientation as the new zero orientation so that from now on only the difference to this orientation is sent.


#### Parameters

* **`port`** (string, default: "/dev/imu")

	The name of the serial port.

* **`time_offset_in_seconds`** (double, default: 0.0)

	This sets an offset which is added to the header timestamp of the imu-topic and the TF transforms. This can be used to synchronise the IMUs orientation values to values of another sensor.


* **`broadcast_tf`** (bool, default: true)

	If true: publish the orientation of the IMU as a tf transform. The frame names can be set with the **tf_frame_id** and **tf_parent_frame_id** parameters.


* **`imu_frame_id`** (string, default: "imu_link")

	Sets the name of the frame for imu messages.


* **`tf_parent_frame_id`** (string, default: "imu_base")

	Sets the name of the parent frame in the tf transform.


* **`tf_frame_id`** (string, default: "imu_link")

	Sets the name of the own frame in the tf transform.

* **`linear_acceleration_stddev`** (double, default: 0.0)

	Sets the linear_acceleration_covariance matrix diagonal elements.

* **`angular_velocity_stddev`** (double, default: 0.0)

	Sets the angular_velocity_covariance matrix diagonal elements.

* **`orientation_stddev`** (double, default: 0.0)

	Sets the orientation_covariance matrix diagonal elements.