This is a ROS package for interfacing with the Sparton AHRS-8 hardware. In particular, it communicates with the sensor using NMEA protocol and publishes the IMU data as ROS sensor messages.
The sparton_ahrs8_driver
package has been tested under ROS Kinetic and Ubuntu 16.04 LTS. The source code is released under a MIT License.
- Clone the repository to your catkin workspace:
cd ~/catkin_ws/src
git clone https://www.github.com/Mayankm96/sparton_ahrs8_driver.git
- Build the package:
cd ~/catkin_ws
catkin build sparton_ahrs8_driver
- Check the serial port to which the sensor is connected at and change the device path in the launch file
# to verify if device is at /dev/ttyUSB0, run:
udevadm info -a -p $(udevadm info -q path -n /dev/ttyUSB0)
- Ensure that python cript has executable permission:
chmod +x sparton_ahrs8_driver/scripts/ahrs8_nmea.py
- Run the launch file:
roslaunch sparton_ahrs8_driver ahrs-8.launch
The node communicate with the sensor using the NMEA protocol and publishes IMU data.
~frame_id
(string, default:ahrs8_imu
) Frame ID for this plugin~port
(string, default:/dev/ttyUSB0
) Port at which sensor is connected~baud
(double, default:115200
) Baud rate for communication with the sensor
~imu/data
(sensor_msgs/Imu) IMU orientation data, orientation in theahrs8_imu
frame