wit_node
This is the ROS nodelet package for wit motion company imu and gps sensor. Providing driver, ros driver and nodelet intergrating program.
Dependencies and Install
- ROS
- ros--ecl
Install ecl by
sudo apt install ros-<distro>-ecl
Usage
Launch the only ROS launch file:
roslaunch wit_node wit.launch
About parameter:
-port
This is the port that device name in Linux system, for example the default port name is "/dev/ttyUSB0"
Msg
ImuGpsRaw
Header header
float64 time
float64[] acc
float64[] gyro
float64[] rpy
float64[] mag
uint16[] ps #port state
float64 temperature
float64 altitude
float64 ap #atmosphere pressure
float64 latitude
float64 longtitude
float64 gpsh #gps height
float64 gpsy #gps yaw
float64 gpsv #gps velocity
float64[] quarternion
uint8 sn #satelites number
float64[] dop
Published Topics
/imu (sensor_msgs/Imu)
The standard ROS imu sensor msg which include orientation by filtered RPY.
/gps (sensor_msgs/NavSatFix)
The standard ROS gps or navigation satellites msg.
/wit/raw_data (wit_node/ImuGpsRaw)
All raw data provided by the wit device, including nine axises data, atmosphere pressure, temperature, latitude,longitude, altitude, satellites number .etc
/wit/related_yaw (std_msgs/Float64)
The offseted imu yaw data, which means the zero direction is start direction.
Subscribed Topics
/wit/reset_offset (std_msgs/Empty)
Reset the offset yaw angle to current yaw, so the zero direction is turned to current direction.