[ros-users] ROS driver supporting Sparkfun IMU
Patrick Goebel
patrick at pirobot.org
Wed Mar 16 17:22:08 UTC 2011
Adam got my firmware situation worked out for the Razor IMU so I am now
getting data over the /dev/imu device and the /imu ROS topic.
And Adam's udev rule below (after substituting for my serial number)
works perfectly for me under Ubuntu 10.04. However, the following rule
based on the Eric's link to answers.ros.org does not:
SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ATTRS{idVendor}=="0403",
ATTRS{idSeri
al}=="A600eIpn", SYMLINK+="imu"
Googling around for more info on this topic, it appears that some people
use a command called "udevinfo" for getting device attributes but the
command does not exist under Ubuntu 10.04. Instead, you're supposed to
use udevadm. For example, on my system where the IMU is on device
/dev/ttyUSB1 I get:
$ udevadm info -q all -n /dev/ttyUSB1
P:
/devices/pci0000:00/0000:00:1d.7/usb1/1-1/1-1.3/1-1.3:1.0/ttyUSB1/tty/ttyUSB1
N: ttyUSB1
S: char/188:1
S: serial/by-path/pci-0000:00:1d.7-usb-0:1.3:1.0-port0
S: serial/by-id/usb-FTDI_FT232R_USB_UART_A600eIpn-if00-port0
E: UDEV_LOG=3
E:
DEVPATH=/devices/pci0000:00/0000:00:1d.7/usb1/1-1/1-1.3/1-1.3:1.0/ttyUSB1/tty/ttyUSB1
E: MAJOR=188
E: MINOR=1
E: DEVNAME=/dev/ttyUSB1
E: SUBSYSTEM=tty
E: ID_PORT=0
E: ID_PATH=pci-0000:00:1d.7-usb-0:1.3:1.0
E: ID_VENDOR=FTDI
E: ID_VENDOR_ENC=FTDI
E: ID_VENDOR_ID=0403
E: ID_MODEL=FT232R_USB_UART
E: ID_MODEL_ENC=FT232R\x20USB\x20UART
E: ID_MODEL_ID=6001
E: ID_REVISION=0600
E: ID_SERIAL=FTDI_FT232R_USB_UART_A600eIpn
E: ID_SERIAL_SHORT=A600eIpn
E: ID_TYPE=generic
E: ID_BUS=usb
E: ID_USB_INTERFACES=:ffffff:
E: ID_USB_INTERFACE_NUM=00
E: ID_USB_DRIVER=ftdi_sio
E: ID_IFACE=00
E: ID_VENDOR_FROM_DATABASE=Future Technology Devices International, Ltd
E: ID_MODEL_FROM_DATABASE=FT232 USB-Serial (UART) IC
E: DEVLINKS=/dev/char/188:1
/dev/serial/by-path/pci-0000:00:1d.7-usb-0:1.3:1.0-port0
/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A600eIpn-if00-port0
From this output, I never would have guessed Adam's solution. For one
thing, there isn't even a "product" attribute listed. Does this mean
that people are using a different command/utility for getting the device
info?
Thanks!
patrick
On 03/16/2011 07:56 AM, Adam Stambler wrote:
> 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
> <mailto:wisesage5001 at gmail.com>> wrote:
>
> On Wed, Mar 16, 2011 at 10:17 AM, Jeff Rousseau
> <drzaiusx11 at gmail.com <mailto: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 <mailto: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
> <mailto: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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