Vectornav ROS Driver

This repository contains the ROS packages for the Vectornav INS & GPS devices.

NOTE: Currently only Vectornav VN100 with version 2.1.0 and 3.0.0 has been tested. Please open an issue if you need support for other versions.

Usage

Parameters

The following parameters for vnpub node:

Required:

• ~serial_port (string, required): The device name of the Vectornav device. For example, /dev/ttyUSB_IMU.
• ~serial_baud (int, required): The baudrate of the Vectornav device. For example, 115200.
• ~frame_id (string, required): The frame id of the Vectornav device. For example, robot_imu_link.

Optional:

• ~acc_bias_enable (bool, default: false): Enable service to calibrate accelerometer bias.

• ~set_acc_bias_seconds (double, default: 2.5): Time in seconds to take samples for accelerometer bias calibration.

• ~async_output_rate (int, default: 200): The rate of the async output. For example, 200.

• ~fixed_imu_rate (int, default: 800): The fixed rate of the IMU data. For example, 800.

• ~adjust_ros_timestamp (bool, default: true): Use sensor timestamp instead of ROS timestamp to mitigate USB communication issues.

• ~map_frame_id (string, default: map): The map frame id of the Vectornav device. For example, map.

• ~linear_accel_covariance (double[9], default: [0.01, 0, 0, 0, 0.01, 0, 0, 0, 0.01]): The covariance of the linear acceleration.

• ~angular_vel_covariance (double[9], default: [0.01, 0, 0, 0, 0.01, 0, 0, 0, 0.01]): The covariance of the angular velocity.

• ~orientation_covariance (double[9], default: [0.01, 0, 0, 0, 0.01, 0, 0, 0, 0.01]): The covariance of the orientation.

• ~rotation_reference_frame (double[9], default: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0, 0, 1.0]): The rotation reference frame of the Vectornav device. For example, [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0, 0, 1.0] for NED frame.

Topics

The following topics are published by the vnpub node:

• ~data (sensor_msgs/Imu): The IMU data with standard ROS messages.
• ~mag (sensor_msgs/MagneticField): The magnetic field data with standard ROS messages.
• ~gps (sensor_msgs/NavSatFix): The GPS data with standard ROS messages.
• ~odom (nav_msgs/Odometry): The odometry data with standard ROS messages.
• ~temperature (sensor_msgs/Temperature): The temperature data with standard ROS messages.
• ~atm_pressure (sensor_msgs/FluidPressure): The atmospheric pressure data with standard ROS messages.
• ~ins_status (vectornav_msgs/InsStatus): The INS status data with custom ROS messages.

Services

The following services are provided by the vnpub node:

• ~set_acc_bias (vectornav_msgs/SetAccBias): Set the accelerometer bias to [0.0, 0.0, 9.81] with mean of samples taken during set_acc_bias_seconds seconds.
• ~reset_acc_bias (std_srvs/Empty): Reset the accelerometer bias to zero.

NOTE: The services are only available if acc_bias_enable is set to true.

Code of Conduct

This project has adopted the Robotnik Code of Conduct. For more information see the Code of Conduct FAQ or contact [email protected] with any additional questions or comments.

License

Copyright (c) 2023, Robotnik Automation S.L. All rights reserved.

The original code under MIT License can be found on this repository. This repository has been partitioned from another project, originally licensed under the MIT License. However, the current project is licensed under the BSD 2-Clause License.

The original code can be found here.