ros-drivers / advanced_navigation_driver

ROS driver for Advanced Navigation devices

advanced_navigation_driver

Driver for the range of INS systems from Advanced Navigation

Packet to Published Message Example

Copyright 2017, Advanced Navigation

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 [email protected].

Installation, build, device configuration, and execution instructions can be found in the file "Advanced Navigation ROS Driver Notes.txt".

advanced_navigation_driver's Issues

The lat/lon positions are not correct

Hi
The lat lons collected using the package are not coming as expected.
I am attaching the expected path (in red) and received path (in blue).
I think the setup the is good reason being the lat lons are correct when the provided SDK is being used.

cheers
Saptarshi

Yaw seems to be North-zero.

My Spatial Dual works great with the Java interface; position and orientation are rock-solid. However, when I use the ROS driver, I get an orientation that seems to be mis-referenced. With my Spatial pointed (roughly) East, I get this from the Imu message:

orientation:
x: -0.010506070219
y: -0.012533034198
z: 0.665283083916
w: 0.746412038803

However, given that quaternion, I get 83 degrees.

In [1]: x = -0.010506070219
...: y = -0.012533034198
...: z = 0.665283083916
...: w = 0.746412038803
...:
...: import tf.transformations
...: import math
...:
...: print(map(math.degrees, tf.transformations.euler_from_quaternion([x, y, z, w])))
...:
[-1.8544214172334526, -0.27104406900104283, 83.42613987606788]

That would normally make sense to me, except that East should be 0 degrees in ROS.

http://www.ros.org/reps/rep-0103.html
"By the right hand rule, the yaw component of orientation increases as the child frame rotates counter-clockwise, and for geographic poses, yaw is zero when pointing east."

High resource usage

I noticed that running this driver, although it works, it consumes 100% of one of my CPU cores:

ricardo@src-09-lx:~$ top | grep advanced
27266 ricardo   20   0  334196   9900   9000 R  87.5  0.1 990:23.06 advanced_n+ 
27266 ricardo   20   0  334196   9900   9000 R 100.3  0.1 990:26.08 advanced_n+ 
27266 ricardo   20   0  334196   9900   9000 R 100.3  0.1 990:29.09 advanced_n+ 
27266 ricardo   20   0  334196   9900   9000 R 100.3  0.1 990:32.10 advanced_n+ 
27266 ricardo   20   0  334196   9900   9000 R 100.0  0.1 990:35.11 advanced_n+ 
27266 ricardo   20   0  334196   9900   9000 R  97.0  0.1 990:38.03 advanced_n+ 
27266 ricardo   20   0  334196   9900   9000 R  99.3  0.1 990:41.01 advanced_n+ 

By comparison, running a ROS driver for a different IMU consumes about 0.1% of the processor. I haven't looked into the code yet, but I suspect that it's polling for data over and over again and consuming processor cycles doing nothing.

No excplicit error when called with wrong port from launch file

Running e.g.
rosrun advanced_navigation_driver advanced_navigation_driver /dev/ttyUSB0 11520 (One 0 ommited on purpose, I get an invalid baudrate error - and rightfully so!

Starting the node from a launch file (again, with an ivalid port for testing purposes) does indeed throw an error, but it is a generic "process has died. Retrying.."-error. My file:

<?xml version="1.0"?>

<launch>
  <!-- params for advanced technology gps -->
	<arg name="an_serial_port" default="/dev/ttyUSB1"/>
  <arg name="an_port" default="11520"/>

	<!-- advanced navigation driver (modell: spatial dual) -->
  <node pkg="advanced_navigation_driver" type="advanced_navigation_driver" name="advanced_navigation_driver" args="$(arg an_serial_port) $(arg an_port)" respawn="true">
  </node>
	
</launch>

I'm not sure what could cause this, the args-parameter in the launch file should be dealt with exactly as if i'd run the rosrun adva..... /dev/ttyUSB1 11520 command. Thanks

How can I publish IMU at 200 Hz?