[ros-users] ROS driver supporting Sparkfun IMU

[Eric Perko]

On Wed, Mar 16, 2011 at 10:17 AM, Jeff Rousseau <drzaiusx11 at gmail.com>wrote:

> Just a thought, but make sure that /dev/ttyUSB0 is actually the razor.
> I'd be careful doing a symlink from USB0 to /dev/imu unless you really
> only have a single usb serial device in your system.  I have 3 on my
> robot, so I just created some udev scripts like shown on the hokyo
> tutorial:
>
>
> http://www.ros.org/wiki/hokuyo_node#Using_udev_to_Give_Hokuyos_Consistent_Device_Names


For an example udev script that will assign a unique device name to an FTDI
chip (which is what does serial->usb for the Sparkfun IMU), see
http://answers.ros.org/question/65/how-can-i-get-a-unique-device-path-for-my .
You could then symlink /dev/imu to that unique device path and be 100% sure
that /dev/imu is definitely the IMU, regardless of how many other ttyUSB
devices you have or the order they were plugged in in.

- Eric


>
>
> On Sat, Mar 12, 2011 at 10:03 AM, Patrick Goebel <patrick at pirobot.org>
> wrote:
> > Hi Adam,
> >
> > Thanks for making this wrapper available.   I have a Sparkfun 9d_razor
> and I
> > have upgraded the firmware using the .pde files in
> > imu_9drazor/src/SF9DOF_AHRS.  I did this under Windows using the Arduino
> IDE
> > (version 0022) and the upload proceeded without errors.
> >
> > Back on Linux with the IMU on port /dev/ttyUSB0 I followed the Wiki
> > instructions:
> >
> > $ sudo ln -s /dev/ttyUSB0 /dev/imu
> > $ roslaunch imu_9drazor imu.launch
> >
> > The launch proceeded without errors with the output:
> > process[imu_node-1]: started with pid [23276]
> > process[imu_msg_converter-2]: started with pid [23277]
> >
> > However, when I echo the imu topic with "rostopic echo imu" there is no
> data
> > being published. Ditto for the topic imu/imu_raw.  Both topics are listed
> > with "rostopic list".
> >
> > One silly question: aside from having the IMU connected to the USB port,
> do
> > I also have to apply power to the white power connector?  I did not have
> to
> > do this under Windows to see data via the firmware test application.
> >
> > Any thoughts?
> >
> > Thanks!
> > Patrick Goebel
> > http://www.pirobot.org
> >
> >
> > On 01/10/2011 09:06 PM, Adam Stambler wrote:
> >
> > Hi,
> >
> > Just an IMU won't be able to track the position of the IMU over time.  It
> > can be combined with odometry measurements with a kalman filter to a
> decent
> > estimate though.
> >
> > If you are looking for a sparkfun IMU with a premade ros-wrapper, I have
> a
> > wrapper for the sparkfun 9d razor imu called imu_9drazor.  It is a part
> of
> > the rutgers-ros-pkg.
> >
> > Regards,
> > Adam
> >
> > On Mon, Jan 10, 2011 at 11:58 PM, abhy <abhy.12354 at gmail.com> wrote:
> >>
> >> hello,
> >>
> >> Does ROS have Sparkfun IMU supporting driver?
> >>
> >> "
> http://www.robotshop.com/sfe-atomic-imu-6-degrees-of-freedom-xbee-ready-1.html
> "
> >>
> >> Is this IMU sufficient for giving X, Y, Z coordinates of the Robot?
> >>
> >> Thanks,
> >> Abhy
> >> --
> >> View this message in context:
> >>
> http://ros-users.122217.n3.nabble.com/ROS-driver-supporting-Sparkfun-IMU-tp2232681p2232681.html
> >> Sent from the ROS-Users mailing list archive at Nabble.com.
> >> _______________________________________________
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> >
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