sparton_ahrs8_driver

Overview

This is a ROS package for interfacing with the Sparton AHRS-8 hardware. In particular, it communicates with the sensor using NMEA protocol and publishes the IMU data as ROS sensor messages.

The sparton_ahrs8_driver package has been tested under ROS Kinetic and Ubuntu 16.04 LTS. The source code is released under a MIT License.

Usage

1. Clone the repository to your catkin workspace:

cd ~/catkin_ws/src
git clone https://www.github.com/Mayankm96/sparton_ahrs8_driver.git

2. Build the package:

cd ~/catkin_ws
catkin build sparton_ahrs8_driver

3. Check the serial port to which the sensor is connected at and change the device path in the launch file

# to verify if device is at /dev/ttyUSB0, run:
udevadm info -a -p  $(udevadm info -q path -n /dev/ttyUSB0)

4. Ensure that python cript has executable permission:

chmod +x sparton_ahrs8_driver/scripts/ahrs8_nmea.py

5. Run the launch file:

roslaunch sparton_ahrs8_driver ahrs-8.launch

Node

ahrs8_nmea.py

The node communicate with the sensor using the NMEA protocol and publishes IMU data.

Parameters

• ~frame_id (string, default: ahrs8_imu) Frame ID for this plugin
• ~port (string, default: /dev/ttyUSB0) Port at which sensor is connected
• ~baud (double, default: 115200) Baud rate for communication with the sensor

Published Topics

• ~imu/data (sensor_msgs/Imu) IMU orientation data, orientation in the ahrs8_imu frame