myahrs_ros2_driver

ROS2	foxy	galactic
Branch	foxy-devel	TBD
CI	Linux:	TBD

Overview

This package is a ROS2 driver for the myAHRS+ which is a low cost high performance AHRS(Attitude Heading Reference System). Using this package, users can create the format of IMU sensor_msgs(http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/Imu.html) in ROS2 system. If install the visualization_tutorials package, users can visualize the IMU snesor data using the RVIZ2.

Original Source

The original source of the myahrs_driver belongs to WITHROBOT. This package used the myAHRS+ SDK below.

https://github.com/withrobot/myAHRS_plus

Installations

Install the package:

mkdir -p ~/myahrs_ws/src && cd ~/myahrs_ws/src
git clone https://github.com/clobot-git/myahrs_ros2_driver.git
cd ~/myahrs_ws/
colcon build

Install visualization_tutorials

Users can use the RVIZ2 visualization package:

git clone -b clobot-devel --single-branch https://github.com/clobot-git/visualization_tutorials.git

Run

First, serial port(/dev/ttyACM0) permissions must be granted to the /root.

Run the following command:

ros2 launch myahrs_ros2_driver myahrs_ros2_driver.launch.py