Phidgets magnetometer ROS 2 driver

This is the ROS 2 driver for Phidgets magnetometer.

Usage

To run this driver standalone, do the following:

ros2 launch phidgets_magnetometer magnetometer-launch.py

Published Topics

• /imu/mag (sensor_msgs/MagneticField) - The raw magnetometer data.

Parameters

• serial (int) - The serial number of the phidgets magnetometer to connect to. If -1 (the default), connects to any magnetometer phidget that can be found.
• hub_port (int) - The phidgets VINT hub port to connect to. Only used if the magnetometer phidget is connected to a VINT hub. Defaults to 0.
• frame_id (string) - The header frame ID to use when publishing the message. Defaults to REP-0145 compliant imu_link.
• magnetic_field_stdev - The standard deviation to use for the magnetic field when publishing the message. Defaults to 1.1 milligauss.
• time_resynchronization_interval_ms (int) - The number of milliseconds to wait between resynchronizing the time on the Phidgets spatial with the local time. Larger values have less “jumps”, but will have more timestamp drift. Setting this to 0 disables resynchronization. Defaults to 5000 ms.
• data_interval_ms (int) - The number of milliseconds between acquisitions of data on the device (allowed values are dependent on the device). Defaults to 8 ms.
• callback_delta_epsilon_ms (int) - The number of milliseconds epsilon allowed between callbacks when attempting to resynchronize the time. If this is set to 1, then a difference of data_interval_ms plus or minus 1 millisecond will be considered viable for resynchronization. Higher values give the code more leeway to resynchronize, at the cost of potentially getting bad resynchronizations sometimes. Lower values can give better results, but can also result in never resynchronizing. Must be less than data_interval_ms. Defaults to 1 ms.
• publish_rate (double) - How often the driver will publish data on the ROS topic. If 0 (the default), it will publish every time there is an update from the device (so at the data_interval_ms). If positive, it will publish the data at that rate regardless of the acquisition interval.
• cc_mag_field (double) - Ambient magnetic field calibration value; see device’s user guide for information on how to calibrate.
• cc_offset0 (double) - Calibration offset value 0; see device’s user guide for information on how to calibrate.
• cc_offset1 (double) - Calibration offset value 1; see device’s user guide for information on how to calibrate.
• cc_offset2 (double) - Calibration offset value 2; see device’s user guide for information on how to calibrate.
• cc_gain0 (double) - Gain value 0; see device’s user guide for information on how to calibrate.
• cc_gain1 (double) - Gain value 1; see device’s user guide for information on how to calibrate.
• cc_gain2 (double) - Gain value 2; see device’s user guide for information on how to calibrate.
• cc_t0 (double) - T value 0; see device’s user guide for information on how to calibrate.
• cc_t1 (double) - T value 1; see device’s user guide for information on how to calibrate.
• cc_t2 (double) - T value 2; see device’s user guide for information on how to calibrate.
• cc_t3 (double) - T value 3; see device’s user guide for information on how to calibrate.
• cc_t4 (double) - T value 4; see device’s user guide for information on how to calibrate.
• cc_t5 (double) - T value 5; see device’s user guide for information on how to calibrate

Changelog for package phidgets_magnetometer

2.3.3 (2024-03-13)

• Add support for VINT networkhub (#172) This is a port of #127 to ROS2. Closes #135.
• Contributors: Martin Günther

2.3.2 (2023-11-27)

2.3.1 (2023-03-03)

2.3.0 (2022-04-13)

• Merge pull request #132 from mintar/feat-pre-commit-ros2 [galactic] Add pre-commit, move from travis to GitHub actions, fix style
• Fix clang-format
• Contributors: Martin Günther

2.2.2 (2022-02-17)

2.2.1 (2021-08-03)

• Make the magnetometer corrections optional again. (#95)
• Update the ROS 2 readme files. (#93)
• Contributors: Chris Lalancette

2.2.0 (2021-05-20)

• Make sure to declare the type while declaring the parameter. (#89)
• Contributors: Chris Lalancette

2.1.0 (2021-03-29)

• Don't publish messages that jumped back in time. (#86)
• Log synchronization window details at DEBUG level (#84)
• Get rid of deprecation warnings in Foxy. (#75)
• Switch header guards to _HPP SUFFIX.
• Contributors: Chris Lalancette, Martin Günther, Michael Grupp

2.0.2 (2020-06-01)

• Release build fixes (#67)
• Contributors: Chris Lalancette

2.0.1 (2019-12-05)

• Switch the buildtoo_depend to ament_cmake_ros. (#65)
• Contributors: Chris Lalancette

2.0.0 (2019-12-05)

• Make sure exceptions get caught by reference.
• Switch from NULL to nullptr.
• Make sure to initialize class member variables.
• Update READMEs to use "Published Topics" and "Subscribed Topics". (#59)
• Change launch output to "both" so it logs as well.
• Make publish_rate a double.
• Print out the serial number when connecting.
• Update documentation to mention device dependent fields.
• Port magnetometer to ROS 2.
• Ignore all packages for ROS 2 port.
• Fix wrong defaults for standard deviations (#48)
• Update maintainers in package.xml
• Merge pull request #39 from clalancette/add-libphidget22
• Resynchronize the times at periodic intervals.
• Add launch files for all drivers.
• Fix small typos in README and LICENSE files.
• Add in try/catch blocks for connecting.
• Fixes from review.
• Documentation updates to README.md
• Set the publish_rate to 0 by default.
• Add in the license files and add to the headers.
• Remove nodes in favor of nodelets.
• Add support for Phidgets Magnetometer sensors.
• Contributors: Chris Lalancette, Martin Günther

0.7.9 (2019-06-28)

0.7.8 (2019-05-06)

0.7.7 (2018-09-18)

0.7.6 (2018-08-09)

0.7.5 (2018-01-31)

0.7.4 (2017-10-04)

0.7.3 (2017-06-30)

0.7.2 (2017-06-02)

0.7.1 (2017-05-22)

0.7.0 (2017-02-17 17:40)

0.2.3 (2017-02-17 12:11)

0.2.2 (2015-03-23)

0.2.1 (2015-01-15)