the ray imu for LINS354

Description

Raymond Robot imu driver for ROS.

How to start

1. Insert the IMU device, check the USB device id and set up the USB permissions, like:

sudo chmod 777 /dev/ttyUSB0

2. Install rosserial

sudo apt-get install ros-kinetic-serial

3. Create a new workspace and put the rm_imu package in your workspace, build your workspace and setting the environment variable,for example:

cd catkin_ws
catkin_make
source /devel/setup.bash

4. Remap the device serial port(ttyUSBX) to LINS354.

sudo cp /scripts/rm_imu.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

5. Set coreect configuration parameters in the launch file

<param name="port" value="/dev/rm_imu" />
<param name="imu_baudrate" value="115200" />
<param name="imu_frame_id" value="imu_base" />
<param name="imu_topic" value="imu" />

You can set these params to meet your needs.

6. Insert the IMU device and run the driver.

roslaunch rm_imu rm_imu.launch

7. Query the imu data

rostopic echo /imu

How to simulation

1. rviz view to test imu

sudo apt-get install git-core

Download the stack from our repository into your catkin workspace

git clone https://github.com/ccny-ros-pkg/imu_tools.git

Compile the stack:

cd ~/catkin_ws
catkin_make
roslaunch rm_imu view_rm_imu.launch

The rviz_imu_plugin package is used to display sensor_msgs/Imu messages in rviz. Once you download and compile the package, it should be visible as a plugin. It displays the orientation of the IMU using a box as well as and coordinate axes. The acceleration can be visualized using a vector.

imu