imu_vmu931

ROS package to for the imu VMU931 from Variense.

Params

• port (string)
  • default: /dev/ttyACM0
• frame_id (string)
  • default: imu_link
• mode (string)
  • device working mode. Defines which type of data is being streamed from the sensor.
  • Values:
    • quaternion-euler-heading (default)
    • gyro-accel-mag
    • custom: based on the params for each type of sensor
• gyroscope (bool)
  • Enables gyroscope streaming in custom mode
  • default: False
• magnetometer (bool)
  • Enables magnetometer streaming in custom mode
  • default: False
• accelerometer (bool)
  • Enables accelometer streaming in custom mode
  • default: False
• quaternion (bool)
  • Enables quaternion streaming in custom mode
  • default: True
• euler (bool)
  • Enables euler streaming in custom mode
  • default: True
• heading (bool)
  • Enables heading streaming in custom mode
  • default: True

Topics

Publishers

• ~data_raw (sensor_msgs/Imu)
  • Publishes the imu data raw from the sensor
  • Only available if quaternion values are being streamed by the sensor.
• ~quaternion (geometry_msgs/QuaternionStamped)
  • Publishes the quaternion received from the sensor
  • Only available if quaternion values are being streamed by the sensor.
• ~euler (geometry_msgs/Vector3Stamped)
  • Publishes the Euler angles received from the sensor
  • Only available if euler values are being streamed by the sensor.
• ~heading (geometry_msgs/Vector3Stamped)
  • Publishes the heading received from the sensor
  • Only available if heading values are being streamed by the sensor.
• ~gyro (geometry_msgs/Vector3Stamped)
  • Publishes the gyrocope values (rad/s) received from the sensor
  • Only available if gyro values are being streamed by the sensor.
• ~accelerometer (geometry_msgs/Vector3Stamped)
  • Publishes the accelerations received from the sensor
  • Only available if acceleration values are being streamed by the sensor.
• ~state (vmu931_imu/State)
  • Publishes the current state of the component

NOTE: output frequencies are different for every type of data

Services

• ~/calibrate (std_srvs/Trigger)
  • Calibrates the sensor

Bringup

roslaunch vmu931_imu vmu931_imu.launch