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Spatial 九轴IMU

系统环境:

  • Ubuntu18.04.5 LTS
  • Kernel 4.9.140-tegra
  • ROS melodic 1.14.11

硬件:

  • NUC8 i7-8650U
  • Advanced Navigation Spatial + Tallysman GPS

文件:

待解决问题：

  • Spatial 九轴陀螺仪有ROS包，官方(MIT)提供的包发现CPU占用过高，Github上有另外fork，但是放到ROS_ws编译不通过，先放着
  • ROS包里面没发现GPS，后续查看 NavSatFix

九轴IMU - Spatial:

Official website: Spatial
ROS wiki: advanced_navigation_driver

安装ROS驱动(需要到自己的工作空间下)

来源有两种:
http://wiki.ros.org/advanced_navigation_driver (CPU占用过高)
https://github.com/kylerlaird/advanced_navigation_driver (编译不通过)

测试:

rosrun advanced_navigation_driver advanced_navigation_driver

Advanced Navigation 提供的JAR工具包 文件: SpatialManager-5.8.jar

sudo java -jar SpatialManager-5.8.jar

IMG

Advanced Navigation ROS Driver

Packet to Published Message Example Copyright 2017, Advanced Navigation

Introduction

This is an example using the Advanced Navigation Spatial SDK to create a ROS driver that reads and decodes the anpp packets (in this case packet #20 and packet #27) and publishes the information as ROS topics / messages.

It should work on all Advanced Navigation INS devices.

This example has been developed and tested using Ubuntu Linux v16.04 LTS and ROS Lunar. Installation instructions for ROS can be found here: http://wiki.ros.org/lunar/Installation/Ubuntu.

If you require any assistance using this code, please email support@advancednavigation.com.au.

Build Instructions

ROS driver build instructions from: http://www.clearpathrobotics.com/assets/guides/ros/Creating%20publisher.html#creating-a-workspace-package

  1. Open a new Terminal window and type: mkdir ~/ros [enter].
  2. Type: mkdir ~/ros/src [enter].
  3. Type: cd ~/ros/src [enter].
  4. Type: catkin_init_workspace [enter].
  5. Type: catkin_create_pkg advanced_navigation_driver roscpp std_msgs [enter].
  6. Copy the supplied src directory and the package.xml file into the ~/ros/src/advanced_navigation_driver directory. It should be OK to overwrite the existing package.xml file if you are following these instructions explicitly. If installing into your own pre-existing catkin workspace it may be necessary to manually merge the contents of these files.
  7. Modify the package.xml file in ~/ros/src/an_driver directory as required.
  8. Copy the supplied CMakeLists.txtfile into the ~/ros/src/advanced_navigation_driver directory, or modify the exisitng CMakeLists.txt file in the ~/ros/src/advanced_navigation_driver directory by adding two lines at the end (you may need to modify the paths to suit your installation): 
    add_executable(advanced_navigation_driver src/an_driver.cpp src/spatial_packets.c src/an_packet_protocol src/rs232/rs232.c)
target_link_libraries(advanced_navigation_driver ${catkin_LIBRARIES})
  9. Type: cd ~/ros[enter].
  10. Type: catkin_make[enter].

Device Configuration

To use this example code, your Advanced Navigation device should be already configured to output anpp packets #20 and #27.

Run Instructions

  1. Open a new Terminal window and type: sudo adduser user_name dialout [enter]. This should only need to be done once.
  2. Plug in the USB to RS232 adapter cable that is connected to the Advanced Navigation device.
  3. In the Terminal window type: dmesg | grep tty [enter] to confirm the name of the com port (should be something like ttyUSB0).
  4. Type: roscore [enter] to start ROS Master.
  5. Open a new Terminal window and type: source ~/ros/devel/setup.bash [enter].
  6. If your com port is named ttyUSB0 and your baud rate is set to 115200 bps, type: rosrun advanced_navigation_driver advanced_navigation_driver [enter]. If your com port or baud rate are different then type: rosrun advanced_navigation_driver advanced_navigation_driver /dev/your_com_port_name your_baud_rate [enter].
  7. Open a new Terminal window and type: rosnode list [enter] to list the available nodes. You should see these listed: 
    /an_device_node
/rosout
  8. Type: rostopic list [enter] to list the published topics. You should see these listed: 
    /an_device/FilterStatus      
/an_device/Imu       
/an_device/NavSatFix
/an_device/SystemStatus
/an_device/Twist
  9. Type: rostopic echo /an_device/Imu[enter]to see the Imu messages being published.
  10. Open a new Terminal window and type: rostopic echo /an_device/NavSatFix[enter]to see the NavSatFix messages being published.
  11. Open a new Terminal window and type: rostopic echo /an_device/Twist[enter]to see the Twist messages being published.
  12. Open a new Terminal window and type: rostopic echo /an_device/FilterStatus[enter]to see the Filter Status messages being published.
  13. Open a new Terminal window and type: rostopic echo /an_device/SystemStatus[enter]to see the System Status messages being published.
  14. You need to subscribe to these topics in your code to get access to the data in the messages.

Published Topics

an_device/NavSatFix     # GPS:  Latitude(纬度) + Longitude(经度) + Altitude(海拔高度)
an_device/Twist         # Linear + Angular
an_device/Imu           # Orientation + Angular_Velocity + Linear_Acceleration
an_device/SystemStatus  # 系统状态   
an_device/FilterStatus  # 过滤器状态

Published Messages: an_device/NavSatFix

sensor_msgs / NavSatFix / Header / Stamp / Sec		   # Packet 20, Field 3, Unix time
sensor_msgs / NavSatFix / Header / Stamp / Nsec 	   # Packet 20, Field 4, Unix time microseconds * 1000
sensor_msgs / NavSatFix / Header / Frame_ID	 		   # Fixed to 0
sensor_msgs / NavSatFix / Status / Status			      # Packet 20, Field 2, Translated from anpp fix type
sensor_msgs / NavSatFix / Status / Service		   	# Fixed to 1 (GPS)
sensor_msgs / NavSatFix / Latitude					      # Packet 20, Field 5, Converted from radians to degrees 
sensor_msgs / NavSatFix / Longitude					      # Packet 20, Field 6, Converted from radians to degrees 
sensor_msgs / NavSatFix / Altitude					      # Packet 20, Field 7, Metres
sensor_msgs / NavSatFix / Position_Covariance	   	# Packet 20, Fields 21, 22, 23, Variance on the diagonals only, converted from standard deviation metres
sensor_msgs / NavSatFix / Position_Covariance_Type	   # Fixed to 2 (diagonal known)

Published Messages: an_device/Twist

geometry_msgs / Twist / Linear / X					# Packet 20, Field 8, Metres per second
geometry_msgs / Twist / Linear / Y					# Packet 20, Field 9, Metres per second
geometry_msgs / Twist / Linear / Z					# Packet 20, Field 10, Metres per second
geometry_msgs / Twist / Angular / X					# Packet 20, Field 18, Radians per second
geometry_msgs / Twist / Angular / Y					# Packet 20, Field 19, Radians per second
geometry_msgs / Twist / Angular / Z					# Packet 20, Field 20, Radians per second

Published Messages: an_device/Imu

sensor_msgs / Imu / Orientation / X					# Packet 20, Fields 15, 16, 17, Converted from radians to quaternions
sensor_msgs / Imu / Orientation / Y					# Packet 20, Fields 15, 16, 17, Converted from radians to quaternions
sensor_msgs / Imu / Orientation / Z					# Packet 20, Fields 15, 16, 17, Converted from radians to quaternions
sensor_msgs / Imu / Orientation / W					# Packet 20, Fields 15, 16, 17, Converted from radians to quaternions
sensor_msgs / Imu / Orientation_Covariance		# Packet 27, Fields 2, 3, 4, Anpp Packet 27 Field 1 is for the W axis which is not requested
sensor_msgs / Imu / Angular_Velocity / X			# Packet 20, Field 18, Radians per second, same as geometry_msgs / Twist / Angular / X
sensor_msgs / Imu / Angular_Velocity / Y			# Packet 20, Field 19, Radians per second, same as geometry_msgs / Twist / Angular / Y
sensor_msgs / Imu / Angular_Velocity / Z			# Packet 20, Field 20, Radians per second, same as geometry_msgs / Twist / Angular / Z
sensor_msgs / Imu / Linear_Acceleration / X		# Packet 20, Field 11, Metres per second per second
sensor_msgs / Imu / Linear_Acceleration / Y		# Packet 20, Field 12, Metres per second per second
sensor_msgs / Imu / Linear_Acceleration / Z		# Packet 20, Field 13, Metres per second per second

Published Messages: an_device/SystemStatus

diagnostic_msgs / Diagnostic_Status / Name			# Fixed to `System Status`
diagnostic_msgs / Diagnostic_Status / Level			# Packet 20, Field 1, Set to 0 (OK) or 2 (ERROR)
diagnostic_msgs / Diagnostic_Status / Message		# Packet 20, Field 1, Varies

Published Messages: an_device/FilterStatus

diagnostic_msgs / Diagnostic_Status / Name			# Fixed to `Filter Status`
diagnostic_msgs / Diagnostic_Status / Level			# Packet 20, Field 2, Set to 0 (OK) or 1 (WARN)
diagnostic_msgs / Diagnostic_Status / Message		# Packet 20, Field 2, Varies

Messages Not Published

sensor_msgs / Imu / Angular_Velocity_Covariance 
sensor_msgs / Imu / Linear_Acceleration_Covariance

来源：
https://www.advancednavigation.com/products/spatial

https://github.com/kylerlaird/advanced_navigation_driver