ROS2 drivers for ADI's IMUs

Contents

Supported Devices
Overview
Applications
Using imu-ros2 repository
imu_ros2 node description
Examples
- adis1646x
- adis1650x
Using imu_ros2 node with imu-tools
IMU and TOF sensor fusion

Supported Devices

Overview

Analog Devices offers a series of precision, miniature microelectromechanical system (MEMS) inertial measurement units (IMUs) that include a triaxial gyroscope and a triaxial accelerometer. Each inertial combines with signal conditioning that optimizes dynamic performance.

The factory calibration characterizes each sensor for sensitivity, bias, alignment, linear acceleration (gyroscope bias), and point of percussion (accelerometer location). As a result, each sensor has dynamic compensation formulas that provide accurate sensor measurements over a broad set of conditions.

Applications

Navigation, stabilization, and instrumentation
Unmanned and autonomous vehicles
Smart agriculture and construction machinery
Factory/industrial automation, robotics
Virtual/augmented reality
Internet of Moving Things

Using imu-ros2 repository

This repository implements a ROS2 node that reads data from ADI IMU devices and publishes the read data on various topics. The node is also able to configure the IMU devices.

Prerequisites

imu-ros2 can be used with ROS2 humble distribution. To install it you may follow the documentation available here: https://docs.ros.org/en/humble/Installation.html

imu-ros2 is using LibIIO v0.25. To install LibIIO you may follow the documentation available here: https://wiki.analog.com/resources/tools-software/linux-software/libiio

imu-ros2 is compatible with adis16475 Linux Kernel Driver which can be found here: https://github.com/torvalds/linux/blob/master/drivers/iio/imu/adis16475.c

Evaluation setup - Required hardware with remote client

Raspberry Pi 3 or 4 with adis16475 driver and LibIIO installed.
EVAL-ADISIMU1-RPIZ for connecting ADI IMUs to Raspberry Pi (with ribbon cable). More information about EVAL-AIDSIMU1-RPIZ connection to RPI can be found here: https://wiki.analog.com/resources/eval/user-guides/circuits-from-the-lab/eval-adisimu1-rpiz
Any of the following supported IMUs connected to the Raspberry Pi using EVAL-ADISIMU1-RPIZ: ADIS16465 ADIS16467 ADIS16470 ADIS16475 ADIS16477 ADIS16500 ADIS16501 ADIS16505 ADIS16507 ADIS16575 ADIS16576 ADIS16577
A client running ROS2 Humble with LibIIO installed on which imu_ros2 node is started.
A network connection between Raspberry Pi and the client running the imu_ros2 node.

The image below shows the information flow from the IMU up to the imu_ros2 node when using a remote client.

Evaluation setup - Required hardware with local client

Raspberry Pi 3 or 4 with adis16475 driver, LibIIO and ROS2 humble installed.
EVAL-ADISIMU1-RPIZ for connecting ADI IMUs to Raspberry Pi (with ribbon cable). More information about EVAL-AIDSIMU1-RPIZ connection to RPI can be found here: https://wiki.analog.com/resources/eval/user-guides/circuits-from-the-lab/eval-adisimu1-rpiz
Any of the following supported IMUs connected to the Raspberry Pi using EVAL-ADISIMU1-RPIZ: ADIS16465 ADIS16467 ADIS16470 ADIS16475 ADIS16477 ADIS16500 ADIS16501 ADIS16505 ADIS16507 ADIS16575 ADIS16576 ADIS16577

The image below shows the information flow from the IMU up to the imu_ros2 node when using a local client.

Build imu_ros2 from sources

If you are not using this node in an existing project, create a new folder ros2_ws, then create the src folder in ros2_ws. Go to src folder (either in ros2_ws or in your project), and clone the imu_ros2 repository:

git clone https://github.com/analogdevicesinc/imu-ros2.git

Go back to your main project folder or ros2_ws folder and export the following environment variable, based on the IMU chip:

export DEVICE_ID={IMU_chip}

IMU_chip available options are:
adis16465-1, adis16465-2, adis16465-3,
adis16467-1, adis16467-2, adis16467-3,
adis16470,
adis16475-1, adis16475-2, adis16475-3,
adis16477-1, adis16477-2, adis16477-3,
adis16500,
adis16501,
adis16505-1, adis16505-2, adis16505-3,
adis16507-1, adis16507-2, adis16507-3,
adis16575-2, adis16575-3,
adis16576-2, adis16576-3,
adis16577-2, adis16577-3.

In order select adis16505-2 IMU, run the following command:

export DEVICE_ID=adis16505-2

After DEVICE_ID variable is exported, run the following command:

colcon build

Check wether the build is successful.

Run imu_ros2 node with local client

If the ROS2 environment is running on the same processing unit to which the IMU is connected to (e.g. on Raspberry Pi), run the following command to start the imu_ros2 node:

source install/setup.sh
ros2 run imu_ros2 imu_ros2_node

Warning

Please make sure you are running the commands above with sudo. LibIIO is using debugfs to retrieve some data from the adis16475 driver, which can only be accessed by the root user.

For executing system tests, run the following commands, after the imu_ros2 node has been started:

source install/setup.sh
cd install/imu_ros2/lib/imu_ros2_test

# set measured_data_topic_selection to 0 to test VelAngTempSubscriber (not available for adis1646x)
ros2 param set /imu_ros2_node measured_data_topic_selection 0
./imu_ros2_test_node --gtest_filter="VelAngTempSubscriberTest*"

# set measured_data_topic_selection to 1 to test AccelGyroTempSubscriber
ros2 param set /imu_ros2_node measured_data_topic_selection 1
./imu_ros2_test_node --gtest_filter="AccelGyroTempSubscriberTest*"

# set measured_data_topic_selection to 2 to test ImuSubscriber
ros2 param set /imu_ros2_node measured_data_topic_selection 2
./imu_ros2_test_node --gtest_filter="ImuSubscriberTest*"

# set measured_data_topic_selection to 3 to test ImuFullMeasuredDataSubscriber
ros2 param set /imu_ros2_node measured_data_topic_selection 3
./imu_ros2_test_node --gtest_filter="ImuFullMeasuredDataSubscriberTest*"

# test ImuIdentificationSubscriber
./imu_ros2_test_node --gtest_filter="ImuIdentificationSubscriberTest*"

# test ImuDiagSubscriber
./imu_ros2_test_node --gtest_filter="ImuDiagSubscriberTest*"

Run imu_ros2 node with remote client

If the ROS2 environment is running on a different processing unit (e.g. personal computer) than the one to which the IMU is connected to (e.g. Raspberry Pi), make sure the two processing units are connected to the same network, and find out the IP address of the processing unit to which the IMU is connected to (e.g. Raspberry Pi) then run the following command to start the imu_ros2 node:

source install/setup.sh
ros2 run imu_ros2 imu_ros2_node --ros-args -p iio_context_string:="ip:'processing_unit_IP_address'"

For executing system tests, run the following commands, after the imu_ros2 node has been started:

source install/setup.sh
cd install/imu_ros2/lib/imu_ros2_test

# set measured_data_topic_selection to 0 to test VelAngTempSubscriber (not available for adis1646x)
ros2 param set /imu_ros2_node measured_data_topic_selection 0
./imu_ros2_test_node --gtest_filter="VelAngTempSubscriberTest*" --ros-args -p iio_context_string:="ip:'processing_unit_IP_address'"

# set measured_data_topic_selection to 1 to test AccelGyroTempSubscriber
ros2 param set /imu_ros2_node measured_data_topic_selection 1
./imu_ros2_test_node --gtest_filter="AccelGyroTempSubscriberTest*" --ros-args -p iio_context_string:="ip:'processing_unit_IP_address'"

# set measured_data_topic_selection to 2 to test ImuSubscriber
ros2 param set /imu_ros2_node measured_data_topic_selection 2
./imu_ros2_test_node --gtest_filter="ImuSubscriberTest*" --ros-args -p iio_context_string:="ip:'processing_unit_IP_address'"

# set measured_data_topic_selection to 3 to test ImuFullMeasuredDataSubscriber
ros2 param set /imu_ros2_node measured_data_topic_selection 3
./imu_ros2_test_node --gtest_filter="ImuFullMeasuredDataSubscriberTest*" --ros-args -p iio_context_string:="ip:'processing_unit_IP_address'"

# test ImuIdentificationSubscriber
./imu_ros2_test_node --gtest_filter="ImuIdentificationSubscriberTest*" --ros-args -p iio_context_string:="ip:'processing_unit_IP_address'"

# test ImuDiagSubscriber
./imu_ros2_test_node --gtest_filter="ImuDiagSubscriberTest*" --ros-args -p iio_context_string:="ip:'processing_unit_IP_address'"

imu_ros2 node description

Published topics

imufullmeasureddata topic contains acceleration, gyroscope, delta velocity, delta angle and temperature data, acquired by polling the IMU device (data ready signal is ignored). Messages are published on this topic when the measured_data_topic_selection parameter is set to 3. This topic has the following definition:

std_msgs/Header header
geometry_msgs/Vector3 linear_acceleration
geometry_msgs/Vector3 angular_velocity
geometry_msgs/Vector3 delta_velocity
geometry_msgs/Vector3 delta_angle
float64 temperature

imu topic it's the standard imu message type as described here: http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Imu.html. Messages are published on this topic when the measured_data_topic_selection parameter is set to 2. This topic has the following definition:

std_msgs/Header header
geometry_msgs/Quaternion orientation
float64[9] orientation_covariance
geometry_msgs/Vector3 angular_velocity
float64[9] angular_velocity_covariance
geometry_msgs/Vector3 linear_acceleration
float64[9] linear_acceleration_covariance

accelgyrotempdata topic contains acceleration, gyroscope and temperature data, acquired on each data ready impulse. Messages are published on this topic when the measured_data_topic_selection parameter is set to 1. This topic has the following definition:

std_msgs/Header header
geometry_msgs/Vector3 linear_acceleration
geometry_msgs/Vector3 angular_velocity
float64 temperature

velangtempdata topic contains delta velocity, delta angle and temperature data, acquired on each data ready impulse. Messages are published on this topic when the measured_data_topic_selection parameter is set to 0. Some devices do not support publishing messages with this type. This topic has the following definition:

std_msgs/Header header
geometry_msgs/Vector3 delta_velocity
geometry_msgs/Vector3 delta_angle
float64 temperature

imudiagdata topic contains various diagnosis flags, Messages are published on this topic continuously.

imuidentificationdata topic contains device specific identification data. Messages are published on this topic continuously. This topic has the following definition:

std_msgs/Header header
string firmware_revision
string firmware_date
uint32 product_id
uint32 serial_number
string gyroscope_measurement_range

Node parameters

The imu_ros2 driver is using LibIIO and thus a LibIIO context should be given when starting the node, using iio_context_string parameter. If the parameter is not set, the default value will be used, which is 'local:', suitable for running the imu_ros2 node on the Raspberry Pi. If the imu_ros2 node is not running on the Raspberry Pi, the parameter should be given when starting the imu_ros2 node and it should have the following format: 'ip:rpi_ip_address', where rpi_ip_address is the IP address of the Raspberry Pi.

The imu_ros2 driver can publish the measured data in various mode, based on measured_data_topic_selection parameter value, as shown below:

0: measured data is published on /velangtempdata topic - not available for adis1646x; sampling is performed on each data ready impulse
1: measured data is published on /accelgyrotempdata topic; sampling is performed on each data ready impulse
2: measured data is published on /imu topic; sampling performed on each data ready impulse
3: measured data is published on /imufullmeasureddata topic (default); sampling is performed by polling the data registers without taking into consideration the data ready impulse

IMU parameters

The imu_ros2 driver allows for IMU configuration. Not all parameters are available for a device. See https://github.com/analogdevicesinc/imu-ros2/tree/main/config for chip specific configuration.

Parameter Name	Parameter Description	Parameter type	Parameter Range	ADIS1646X	ADIS1647X	ADIS1650X	ADIS1657X
accel_calibbias_x	x-axis acceleration offset correction	integer	-2147483648 up to 2147483647, step 1	Supported	Supported	Supported	Supported
accel_calibbias_y	y-axis acceleration offset correction	integer	-2147483648 up to 2147483647, step 1	Supported	Supported	Supported	Supported
accel_calibbias_z	z-axis acceleration offset correction	integer	-2147483648 up to 2147483647, step 1	Supported	Supported	Supported	Supported
anglvel_calibbias_x	x-axis angular velocity offset correction	integer	-2147483648 up to 2147483647, step 1	Supported	Supported	Supported	Supported
anglvel_calibbias_y	y-axis angular velocity offset correction	integer	-2147483648 up to 2147483647, step 1	Supported	Supported	Supported	Supported
filter_low_pass_3db_frequency	Low pass 3db frequency	integer	10, 20, 70, 80, 164, 360, 720	Supported	Supported	Supported	Supported
sampling_frequency	Device sampling frequency	double	1.0 up to max	max = 2000.0	max = 2000.0	max = 2000.0	max = 4000.0
linear_acceleration_compensation	Linear acceleration compensation enable/disable	integer	0 up to 1, step 1	Supported	Supported	Supported	Supported
point_of_percussion_alignment	Point of percussion alignment enable/disable	integer	0 up to 1, step 1	Supported	Supported	Supported	Supported
bias_correction_time_base_control	Time base control	integer	0 up to 12, step 1	Supported	Supported	Not Supported	Supported
x_axis_accelerometer_bias_correction_enable	x-axis accelerometer bias correction enable/disable	integer	0 up to 1, step 1	Supported	Supported	Not Supported	Supported
y_axis_accelerometer_bias_correction_enable	y-axis accelerometer bias correction enable/disable	integer	0 up to 1, step 1	Supported	Supported	Not Supported	Supported
z_axis_accelerometer_bias_correction_enable	z-axis accelerometer bias correction enable/disable	integer	0 up to 1, step 1	Supported	Supported	Not Supported	Supported
x_axis_gyroscope_bias_correction_enable	x-axis gyroscope bias correction enable/disable	integer	0 up to 1, step 1	Supported	Supported	Not Supported	Supported
y_axis_gyroscope_bias_correction_enable	y-axis gyroscope bias correction enable/disable	integer	0 up to 1, step 1	Supported	Supported	Not Supported	Supported
z_axis_gyroscope_bias_correction_enable	z-axis gyroscope bias correction enable/disable	integer	0 up to 1, step 1	Supported	Supported	Not Supported	Supported
command_to_execute	list of available commands to be executed, device specific	string	software_reset, flash_memory_test, flash_memory_update, sensor_self_test, factory_calibration_restore, bias_correction_update	All commands supported	All commands supported	All commands supported, except bias_correction_update	All commands supported
internal_sensor_bandwidth	Internal sensor bandwidth	integer	0 for wide bandwidth, 1 for 370 Hz	Not Supported	Not Supported	Supported	Supported

Examples

adis1646x

Setup

adis1646x ROS2 driver with adis16467-1 connected to Raspberry Pi 4 Used device-tree for adis16475 Linux driver: https://github.com/analogdevicesinc/linux/blob/rpi-6.1.y/arch/arm/boot/dts/overlays/adis16475-overlay.dts config.txt entries for device-tree overlay:

dtoverlay=adis16475
dtparam=device="adi,adis16467-1"
dtparam=drdy_gpio25

The image below shows how the adis16467-1 device is connected to Raspberry Pi 4 using EVAL-ADISIMU1-RPIZ using Mounting Slot I with P7 Connector:

Topic list

➜ ros2 topic list
/accelgyrotempdata
/imu
/imudiagdata
/imufullmeasureddata
/imuidentificationdata

Parameter list

➜ ros2 param list imu_ros2_node
accel_calibbias_x
accel_calibbias_y
accel_calibbias_z
anglvel_calibbias_x
anglvel_calibbias_y
anglvel_calibbias_z
bias_correction_time_base_control
command_to_execute
filter_low_pass_3db_frequency
iio_context_string
linear_acceleration_compensation
measured_data_topic_selection
point_of_percussion_alignment
sampling_frequency
x_axis_accelerometer_bias_correction_enable
x_axis_gyroscope_bias_correction_enable
y_axis_accelerometer_bias_correction_enable
y_axis_gyroscope_bias_correction_enable
z_axis_accelerometer_bias_correction_enable
z_axis_gyroscope_bias_correction_enable

Parameter dump

➜ ros2 param dump /imu_ros2_node
/imu_ros2_node:
        ros__parameters:
                accel_calibbias_x: 0
                accel_calibbias_y: 0
                accel_calibbias_z: 0
                anglvel_calibbias_x: 0
                anglvel_calibbias_y: 0
                anglvel_calibbias_z: 0
                bias_correction_time_base_control: 10
                command_to_execute: no_command
                filter_low_pass_3db_frequency: 720
                iio_context_string: ip:192.168.0.1
                linear_acceleration_compensation: 1
                measured_data_topic_selection: 3
                point_of_percussion_alignment: 1
                sampling_frequency: 2000.0
                x_axis_accelerometer_bias_correction_enable: 0
                x_axis_gyroscope_bias_correction_enable: 1
                y_axis_accelerometer_bias_correction_enable: 0
                y_axis_gyroscope_bias_correction_enable: 1
                z_axis_accelerometer_bias_correction_enable: 0
                z_axis_gyroscope_bias_correction_enable: 1

Topic echo accelgyrotempdata

➜ ros2 param set /imu_ros2_node measured_data_topic_selection 1
Set parameter successful
➜ ros2 topic echo accelgyrotempdata
header:
        stamp:
                sec: 1698751163
                nanosec: 610640655
        frame_id: accelgyrotempdata
linear_acceleration:
        x: -0.12255231999999999
        y: 0.49020927999999997
        z: 10.245373952
angular_velocity:
        x: 0.0077987840000000004
        y: -0.008912896
        z: 0.0023592960000000003
temperature: 37.9
---
header:
        stamp:
                sec: 1698751163
                nanosec: 611141470
        frame_id: accelgyrotempdata
linear_acceleration:
        x: 0.036765696
        y: 0.47795404799999996
        z: 10.147332096
angular_velocity:
        x: 0.0057671680000000005
        y: -0.006553600000000001
        z: 0.0
temperature: 37.9

Topic echo imu

➜ ros2 param set /imu_ros2_node measured_data_topic_selection 2
Set parameter successful
➜ ros2 topic echo imu
header:
        stamp:
                sec: 1698746841
                nanosec: 951239970
frame_id: imu
orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
orientation_covariance:
        -1.0
        0.0
        0.0
        0.0
        0.0
        0.0
        0.0
        0.0
        0.0
angular_velocity:
        x: -0.0021626880000000003
        y: -0.005046272
        z: -0.0015728640000000002
angular_velocity_covariance:
        0.0
        0.0
        0.0
        0.0
        0.0
        0.0
        0.0
        0.0
        0.0
linear_acceleration:
        x: -0.073531392
        y: 0.0
        z: 9.98801408
linear_acceleration_covariance:
        0.0
        0.0
        0.0
        0.0
        0.0
        0.0
        0.0
        0.0
        0.0

Topic echo imufullmeasureddata

➜ ros2 param set /imu_ros2_node measured_data_topic_selection 3
Set parameter successful
➜ ros2 topic echo imufullmeasureddata
header:
        stamp:
                sec: 1698747556
                nanosec: 755176752
        frame_id: imufullmeasureddata
linear_acceleration:
        x: 0.06316448599999999
        y: 0.04266031
        z: 9.86933827
angular_velocity:
        x: -0.000793858
        y: -0.001786835
        z: -0.0019665010000000003
delta_velocity:
        x: 2.3436e-05
        y: 8.184e-06
        z: 0.004929186
delta_angle:
        x: 2.7e-07
        y: -1.28e-06
        z: -5.96e-07
temperature: 41.0
---
header:
        stamp:
                sec: 1698747556
                nanosec: 760426222
        frame_id: imufullmeasureddata
linear_acceleration:
        x: 0.003555244
        y: 0.008432765
        z: 9.839817141
angular_velocity:
        x: 4.0902e-05
        y: -0.003819203
        z: -0.0019095020000000002
delta_velocity:
        x: 1.6926e-05
        y: -3.348e-06
        z: 0.004927512
delta_angle:
        x: 1.98e-07
        y: -1.356e-06
        z: -1.092e-06
temperature: 41.0

Topic echo imuidentificationdata

➜ ros2 topic echo /imuidentificationdata
header:
        stamp:
                sec: 1698747693
                nanosec: 960557599
        frame_id: imuidentificationdata
firmware_revision: '1.6'
firmware_date: 08-29-2017
product_id: 16467
serial_number: 107
gyroscope_measurement_range: +/-125_degrees_per_sec

Topic echo imudiagdata

➜ ros2 topic echo /imudiagdata
header:
        stamp:
                sec: 1698747757
                nanosec: 309115737
        frame_id: imudiagdata
diag_data_path_overrun: false
diag_flash_memory_update_error: false
diag_spi_communication_error: false
diag_standby_mode: false
diag_sensor_self_test_error: false
diag_flash_memory_test_error: false
diag_clock_error: false
diag_flash_memory_write_count_exceeded_error: false
flash_counter: 14

adis1650x

Setup

adis1650x ROS2 driver with adis16505-2 connected to Raspberry Pi 4 using a ribbon cable Used device-tree for adis16475 Linux driver: https://github.com/analogdevicesinc/linux/blob/rpi-6.1.y/arch/arm/boot/dts/overlays/adis16475-overlay.dts config.txt entries for device-tree overlay:

dtoverlay=adis16475
dtparam=device="adi,adis16505-2"

The image below shows how the adis16467-1 device is connected to Raspberry Pi 4 using EVAL-ADISIMU1-RPIZ using Mounting Slot I with P7 Connector:

Topic list

➜ ros2 topic list
/accelgyrotempdata
/imu
/imudiagdata
/imufullmeasureddata
/imuidentificationdata
/velangtempdata

Parameter list

➜ ros2 param list imu_ros2_node
accel_calibbias_x
accel_calibbias_y
accel_calibbias_z
anglvel_calibbias_x
anglvel_calibbias_y
anglvel_calibbias_z
command_to_execute
filter_low_pass_3db_frequency
iio_context_string
internal_sensor_bandwidth
linear_acceleration_compensation
measured_data_topic_selection
point_of_percussion_alignment
sampling_frequency

Parameter dump

➜ ros2 param dump /imu_ros2_node
/imu_ros2_node:
        ros__parameters:
                accel_calibbias_x: 0
                accel_calibbias_y: 0
                accel_calibbias_z: 0
                anglvel_calibbias_x: 0
                anglvel_calibbias_y: 0
                anglvel_calibbias_z: 0
                command_to_execute: no_command
                filter_low_pass_3db_frequency: 720
                iio_context_string: ip:192.168.0.1
                internal_sensor_bandwidth: 0
                linear_acceleration_compensation: 1
                measured_data_topic_selection: 3
                point_of_percussion_alignment: 1
                sampling_frequency: 2000.0

Topic echo velangtempdata

➜ ros2 param set /imu_ros2_node measured_data_topic_selection 0
Set parameter successful
➜ ros2 topic echo velangtempdata
header:
        stamp:
                sec: 1698753051
                nanosec: 211437438
        frame_id: velangtempdata
delta_velocity:
        x: 0.0
        y: 0.0
        z: 0.003014656
delta_angle:
        x: -0.000393216
        y: 0.0
        z: 0.0
temperature: 32.7
---
header:
        stamp:
                sec: 1698753051
                nanosec: 212438253
        frame_id: velangtempdata
delta_velocity:
        x: 0.0
        y: 0.0
        z: 0.003014656
delta_angle:
        x: -0.000393216
        y: 0.0
        z: -0.000393216
temperature: 32.7

Topic echo accelgyrotempdata

➜ ros2 param set /imu_ros2_node measured_data_topic_selection 1
Set parameter successful
➜ ros2 topic echo accelgyrotempdata
header:
        stamp:
                sec: 1698752813
                nanosec: 865099477
        frame_id: accelgyrotempdata
linear_acceleration:
        x: 1.513095168
        y: 6.326386688
        z: 7.5776
angular_velocity:
        x: -0.012189696
        y: 0.009437184
        z: 0.001572864
temperature: 32.6
---
header:
        stamp:
                sec: 1698752813
                nanosec: 865597207
        frame_id: accelgyrotempdata
linear_acceleration:
        x: 1.522794496
        y: 6.1833216
        z: 7.616397312
angular_velocity:
        x: -0.017301504
        y: 0.009437184
        z: 0.001179648
temperature: 32.6

Topic echo imu

 ➜ ros2 param set /imu_ros2_node measured_data_topic_selection 2
 Set parameter successful
 ➜ ros2 topic echo imu
header:
         stamp:
                 sec: 1698752385
                 nanosec: 697059208
         frame_id: imu
 orientation:
         x: 0.0
         y: 0.0
         z: 0.0
         w: 1.0
 orientation_covariance:
         -1.0
         0.0
         0.0
         0.0
         0.0
         0.0
         0.0
         0.0
         0.0
 angular_velocity:
         x: -0.022413312
         y: 0.005111808
         z: 0.003538944
 angular_velocity_covariance:
         0.0
         0.0
         0.0
         0.0
         0.0
         0.0
         0.0
         0.0
         0.0
 linear_acceleration:
         x: 1.52764416
         y: 4.917559296
         z: 7.866155008
 linear_acceleration_covariance:
         0.0
         0.0
         0.0
         0.0
         0.0
         0.0
         0.0
         0.0
         0.0

Topic echo imufullmeasureddata

➜ ros2 param set /imu_ros2_node measured_data_topic_selection 3
Set parameter successful
➜ ros2 topic echo imufullmeasureddata
header:
        stamp:
                sec: 1698752480
                nanosec: 32117474
        frame_id: imufullmeasureddata
linear_acceleration:
        x: 1.498841658
        y: 5.758833587
        z: 7.699544637
angular_velocity:
        x: 0.0180183
        y: 0.006585252
        z: -0.003338532
delta_velocity:
        x: 0.000749064
        y: 0.002869894
        z: 0.003841414
delta_angle:
        x: 1.1514e-05
        y: 4.05e-06
        z: -2.0039999999999998e-06
temperature: 32.1
---
header:
        stamp:
                sec: 1698752480
                nanosec: 47051862
        frame_id: imufullmeasureddata
linear_acceleration:
        x: 1.500955246
        y: 5.752098773
        z: 7.669287517
angular_velocity:
        x: 0.014685954
        y: 0.008353032
        z: 0.000134526
delta_velocity:
        x: 0.000747822
        y: 0.002868008
        z: 0.003832168
delta_angle:
        x: 7.824e-06
        y: 4.956e-06
        z: -1.488e-06
temperature: 32.2

Topic echo imuidentificationdata

➜ ros2 topic echo /imuidentificationdata
header:
        stamp:
                sec: 1698752760
                nanosec: 145522368
        frame_id: imuidentificationdata
firmware_revision: '1.6'
firmware_date: 06-27-2019
product_id: 16505
serial_number: 1208
gyroscope_measurement_range: +/-500_degrees_per_sec

Topic echo imudiagdata

➜ ros2 topic echo /imudiagdata
header:
        stamp:
                sec: 1698752709
                nanosec: 500543873
        frame_id: imudiagdata
diag_data_path_overrun: false
diag_flash_memory_update_error: false
diag_spi_communication_error: false
diag_standby_mode: false
diag_sensor_self_test_error: false
diag_flash_memory_test_error: false
diag_clock_error: false
diag_acceleration_self_test_error: false
diag_gyroscope1_self_test_error: false
diag_gyroscope2_self_test_error: false
diag_flash_memory_write_count_exceeded_error: false
flash_counter: 22

Using imu_ros2 node with imu-tools

imu-ros2 repository offers a launch file which can be used to visualize in rviz the imu filtered data, using a Madgwick filter implemented in imu-tools ros package. Below you may find the steps to achieve this, assuming imu-ros2 sources and dependencies are already available.

First install imu-tools and rviz2 packages:

➜ sudo apt-get install ros-humble-imu-tools ros-humble-rviz2

Identify the IP address of the processing unit to which the IMU is connected to (e.g. Raspberry Pi) then update the iio_context_string in launch/imu_with_madgwick_filter_rviz.launch.py:

imu_ros2_node = launch_ros.actions.Node(
        package='imu_ros2',
        executable='imu_ros2_node',
        parameters=[{'measured_data_topic_selection': 2},
                # the IP address of the processing unit to which the IMU is connected to
                {'iio_context_string': "ip:192.168.0.1"},],
        remappings=[('/imu','/imu/data_raw')],
        output='screen'
        )

Rebuild imu-ros2 package:

colcon build

Then launch the imu_with_madgwick_filter_rviz.launch file:

source install/setup.sh
ros2 launch imu_ros2 imu_with_madgwick_filter_rviz.launch.py

IMU and TOF sensor fusion

imu-ros2 repository offers a launch file which can be used to visualize in rviz the ToF point cloud fused with imu filtered data. Below you may find the steps to achieve this, assuming imu-ros2 sources and dependencies are already available.

First install imu-tools and rviz2 packages:

➜ sudo apt-get install ros-humble-imu-tools ros-humble-rviz2

Secondly install tof-ros2 package by following the steps from: https://github.com/analogdevicesinc/tof-ros2#readme

Identify the IP address of the processing unit to which the IMU is connected to (e.g. Raspberry Pi) then update the iio_context_string in launch/imu_tof_fusion.launch.py:

imu_ros2_node = launch_ros.actions.Node(
        package='imu_ros2',
        executable='imu_ros2_node',
        parameters=[{'measured_data_topic_selection': 2},
                # the IP address of the processing unit to which the IMU is connected to
                {'iio_context_string': "ip:192.168.0.1"},],
        remappings=[('/imu','/imu/data_raw')],
        output='screen'
        )

Rebuild imu-ros2 package:

colcon build

Then launch the imu_tof_fusion.launch file:

source install/setup.sh
ros2 launch imu_ros2 imu_tof_fusion.launch.py

Name		Name	Last commit message	Last commit date
Latest commit History 130 Commits
config		config
include/imu_ros2		include/imu_ros2
launch		launch
msg		msg
rviz		rviz
scripts		scripts
src		src
test		test
.clang-format		.clang-format
.clangformatignore		.clangformatignore
.gitignore		.gitignore
CMakeLists.txt		CMakeLists.txt
Doxyfile		Doxyfile
LICENSE		LICENSE
README.rst		README.rst
adis16467_1_rpi.jpg		adis16467_1_rpi.jpg
adis16505_2_rpi.jpg		adis16505_2_rpi.jpg
architecture_local_client.png		architecture_local_client.png
architecture_remote_client.png		architecture_remote_client.png
package.xml		package.xml

License

analogdevicesinc/imu-ros2

Folders and files

Latest commit

History

Repository files navigation

ROS2 drivers for ADI's IMUs

About

Resources

License

Stars

Watchers

Forks

Languages