ROS driver for SBG System Ellipse IMU
- Kinectic
sudo apt-get install ros-kinetic-sbg-driver - Lunar
sudo apt-get install ros-lunar-sbg-driver
- Clone the repository (use a Release version)
- Build using the normal ROS catkin build system
- Launch the driver using the provided launch file
- status (sbg_driver/SbgStatus)
- utc_time (sbg_driver/SbgUtcTime)
- imu_data (sbg_driver/SbgImuData)
- ekf_euler (sbg_driver/SbgEkfEuler)
- ekf_quat (sbg_driver/SbgEkfQuat)
- ekf_nav (sbg_driver/SbgEkfNav)
- ship_motion (sbg_driver/SbgShipMotion)
- mag (sbg_driver/SbgMag)
- mag_calib (sbg_driver/SbgMagCalib)
- gps_vel (sbg_driver/SbgGpsVel)
- gps_pos (sbg_driver/SbgGpsPos)
- gps_hdt (sbg_driver/SbgGpsHdt)
- gps_raw (sbg_driver/SbgGpsRaw)
- odo_vel (sbg_driver/SbgOdoVel)
- eventA (sbg_driver/SbgEvent)
- eventB (sbg_driver/SbgEvent)
- eventC (sbg_driver/SbgEvent)
- eventD (sbg_driver/SbgEvent)
- pressure (sbg_driver/SbgPressure)
Ellipse-A/E/N use magnemoter to provide heading. A calibration is then required to compensate soft and hard iron distortions due to the environmenent (motors, batteries, ...). The magnetic calibration procedure should be held in a non magnetic area (outside of buildings).
- Roslaunch the
calibration_sbg_ellipse.launch - Send a request to the
mag_calibrationservice to start the calibration process - Proceed to rotations of your IMU (every orientations if possible)
- Send a request to the
mag_calibrationservice to stop the calibration process. An analyse of the calibration is published in log (ROS_INFO) - If the calibration is suitable, save the parameters to the Ellipse by sending a request to the
mag_calibration_saveservice.
Ensure that your user is added to the dialout group
To add yourself to the dialout group preform the following :
sudo adduser username dialout
- Where username is your session username
- Restart your computer to enable access
ToDo