[ros-users] ROS driver supporting Sparkfun IMU

[Adam Stambler]

Hello,

Using a udev script like that is exactly what we are doing right now on our
robots with all of our serial ports.  We have udev scripts  matching the
FTDI serial number to the device name.

For example:
KERNEL=="ttyUSB[0-9]*", ATTRS{product}=="FT232R USB UART",
ATTRS{serial}=="A700ek5i", SYMLINK+="imu"

My end goal, was to have udev launch an avr_bridge script that queries the
device for the name programmed into it.  This name would then become the
/dev symbol.  However, I haven't gotten the udev script working for that
yet.

-Adam

On Wed, Mar 16, 2011 at 10:50 AM, Eric Perko <wisesage5001 at gmail.com> wrote:

> 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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