dydis / sbg_ros_driver

Driver for SBG System Ellipse IMU

sbg_driver

ROS driver for SBG System Ellipse IMU

Installation

Standard Installation

• Kinectic sudo apt-get install ros-kinetic-sbg-driver
• Lunar sudo apt-get install ros-lunar-sbg-driver

Installation from sources

1. Clone the repository (use a Release version)
2. Build using the normal ROS catkin build system
3. Launch the driver using the provided launch file

Using the Ellipse nodes

Publishers (ellipse node)

• status (sbg_driver/SbgStatus)
• utc_time (sbg_driver/SbgUtcTime)
• imu_data (sbg_driver/SbgImuData)
• ekf_euler (sbg_driver/SbgEkfEuler)
• ekf_quat (sbg_driver/SbgEkfQuat)
• ekf_nav (sbg_driver/SbgEkfNav)
• ship_motion (sbg_driver/SbgShipMotion)
• mag (sbg_driver/SbgMag)
• mag_calib (sbg_driver/SbgMagCalib)
• gps_vel (sbg_driver/SbgGpsVel)
• gps_pos (sbg_driver/SbgGpsPos)
• gps_hdt (sbg_driver/SbgGpsHdt)
• gps_raw (sbg_driver/SbgGpsRaw)
• odo_vel (sbg_driver/SbgOdoVel)
• eventA (sbg_driver/SbgEvent)
• eventB (sbg_driver/SbgEvent)
• eventC (sbg_driver/SbgEvent)
• eventD (sbg_driver/SbgEvent)
• pressure (sbg_driver/SbgPressure)

Magnetic calibration (mag_calibration_ellipse node)

Ellipse-A/E/N use magnemoter to provide heading. A calibration is then required to compensate soft and hard iron distortions due to the environmenent (motors, batteries, ...). The magnetic calibration procedure should be held in a non magnetic area (outside of buildings).

1. Roslaunch the calibration_sbg_ellipse.launch
2. Send a request to the mag_calibration service to start the calibration process
3. Proceed to rotations of your IMU (every orientations if possible)
4. Send a request to the mag_calibration service to stop the calibration process. An analyse of the calibration is published in log (ROS_INFO)
5. If the calibration is suitable, save the parameters to the Ellipse by sending a request to the mag_calibration_save service.

Q&A

Enable communication with the ellipse (linux access right)

Ensure that your user is added to the dialout group To add yourself to the dialout group preform the following : sudo adduser username dialout

• Where username is your session username
• Restart your computer to enable access

Create udev rules

ToDo