10 axis localization module for Yonder Dynamics
The module can provide raw sensor information to ROS network through USB. The module integrated MPU9250, MS5611, and BN-800GPS(which includes a HMC5883L) and can provide imformation including acceleration, angular velocity, quaternion representation of rotation, magnetic field, air pressure, temperature, and GPS position.
This module interface with the ROS network through USB with rosserial.
The port may differ on different computers. Since the XIMU send data via VCP(Virtual COM Port), the baud rate can be arbitrary.
Color corrospondence: Red - X, Green - Y, Blue - Z
(This is a old picture, the MCU is upgraded to STM32F407)
| State | LED |
|---|---|
| XIMU powered | ON(solid) |
| XIMU not powered | OFF |
| State | ON time | OFF time | period |
|---|---|---|---|
| STM32 initalizing | 50% | 50% | 0.5s |
| Self-check / sensor initialization fault | 50% | 50% | 0.25s |
| Reading sensor data | 87.5% | 12.5% | 1.0s |
| State | LED |
|---|---|
| synchronized with ROS network | ON(solid) |
| not synchronized with ROS network | OFF |
To receive information from XIMU, we need the rosserial node. install rosserial package and run the node:
rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=250000