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imu_100d4_node package from mick_robot repoamcl mick_cartographer openslam_gmapping slam_gmapping navigation2 odom_tf mickrobot_bringup mickrobot_description imu_100d4_node keyboard oradar_lidar |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | 基于ROS2的移动机器人导航开源项目 |
| Checkout URI | https://github.com/rupingcen/mick_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-12-24 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | autonomous-car autonomous-vehicles mick-robot |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- meteor
Authors
No additional authors.
## 100D4 IMU
参考官方驱动修改，将100D4 IMU输出数据变换到ENU 坐标系与Xsens MTI-30输出数据保持一致。
1. 使用方法
(1).赋予串口权限
sudo chmod 777 /dev/ttyUSB0
(2). 启动IMU节点
ros2 launch mick_imu_node imu_100D4.launch.py
2. 参数说明
- port ： 串口号（默认值为 “/dev/ttyUSB0” ）
- baud： 波特率型号（默认值为 115200 ）
- model： IMU型号（默认值为 “100D4” ）
- frame_id： IMU话题输出数据frame id（默认值为 “imu” ）
- gravity： 当地重力参数（默认值为 9.81 ），若希望在话题上需要输出归一化的重力值则可将此参数设置为1
- use_magnetic： 是否使用100D4的磁力计修正航向角（默认值为0，表示不使用 ）
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rclcpp | |
| tf2 | |
| tf2_ros | |
| tf2_geometry_msgs | |
| sensor_msgs | |
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common |
System Dependencies
| Name |
|---|
| boost |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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