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Merged
merged 2 commits into from
Jun 23, 2025
Merged

Added Phidgets IMU for Jazzy. #418

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d929c4f
Added Phidgets IMU for Jazzy.
tonybaltovski Jun 19, 2025
1de6196
Fixed phidgets driver link.
tonybaltovski Jun 23, 2025
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2 changes: 2 additions & 0 deletions components/supported_sensors.mdx
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,8 @@ Debian drivers are automatically installed on robots as part of the
| [MicroStrain 3DM-GQ7](/docs_robots/accessories/sensors/gps/microstrain_gq7) | Debian | Debian | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) |
| [Redshift Labs UM7](/docs_robots/accessories/sensors/imu/redshift_labs_um7) | Debian | Debian | Debian | Debian | [UM7](https://github.com/ros-drivers/um7) |
| CH Robotics UM6 | Debian | Debian | Debian | Debian | [UM7](https://github.com/ros-drivers/um7) |
| Phidgets IMU | Unsupported | Unsupported | Debian | Debian | [Phidgets](https://github.com/ros-drivers/phidgets_drivers) |


### GPS

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Binary file added ...rsioned_docs/version-ros2jazzy/components/yaml/sensors/img/phidgets_spatial.png
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31 changes: 31 additions & 0 deletions docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/phidgets_spatial.mdx
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@@ -0,0 +1,31 @@
<table>
<tr>
<td>
<center>
<figure>
<img src={require("./img/phidgets_spatial.png").default} width="250" />
</figure>
</center>
</td>
<td>

```yaml
imu:
- model: phidgets_spatial
urdf_enabled: true
launch_enabled: true
parent: base_link
xyz: [0.0, 0.0, 0.0]
rpy: [0.0, 0.0, 0.0]
ros_parameters:
phidgets_spatial:
data_interval_ms: 20
```
</td>
</tr>
</table>

#### Package and Setup
The Phidgets devices use the `phidgets_spatial` ROS 2 package. The driver is open source, maintained by ROS community, and hosted on [GitHub](https://github.com/ros-drivers/phidgets_drivers).

For more specifics on the way Clearpath's configuration system launches the `phidgets_spatial` driver, see the `phidgets_spatial` [launch file](https://github.com/clearpathrobotics/clearpath_robot/blob/jazzy/clearpath_sensors/launch/phidgets_spatial.launch.py) and the [default parameter file](https://github.com/clearpathrobotics/clearpath_robot/blob/jazzy/clearpath_sensors/config/phidgets_spatial.yaml) in `clearpath_sensors`.
4 changes: 4 additions & 0 deletions docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/imu.mdx
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Expand Up @@ -8,6 +8,7 @@ toc_max_heading_level: 4
import CHRoboticsUM6 from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/chrobotics_um6.mdx";
import RedShiftUM7 from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/redshift_um7.mdx";
import MicrostrainIMU from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/microstrain_imu.mdx";
import PhidgetsIMU from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/phidgets_spatial.mdx";

Inertial measurement units are sensors that publish messages of the type `sensor_msgs/Imu`. These messages contain orientation, angular velocity, and/or linear acceleration depending on the device.

Expand All @@ -16,6 +17,9 @@ Inertial measurement units are sensors that publish messages of the type `sensor
### Microstrain IMU
<MicrostrainIMU/>

### Phidgets IMU
<PhidgetsIMU/>

### CHRobotics UM6
<CHRoboticsUM6/>

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