92 lines
2.6 KiB
Markdown
92 lines
2.6 KiB
Markdown
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# OpenZen Node for ROS 2
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This software allows to forward sensor data from sensor connected via OpenZen to ROS version 2.
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OpenZen is a library for high performance sensor data streaming and processing and supports multiple sensor models: <https://bitbucket.org/lpresearch/openzen/>
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## Requirements
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### Serial Port Access Rights
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After this call, you should logout and login with this user to ensure the changed permissions are in effect.
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To allow access to sensors connected via USB, you need to ensure that the user running the ROS sensor node
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has access to the /dev/ttyUSB devices. You can do this by adding the user to the dialout group.
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```
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sudo adduser <username> dialout
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```
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## Compilation
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To compile this driver in your ROS2 setup, follow these steps:
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```
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mkdir -p ros_ws/src
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cd ros_ws/src
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git clone --recurse-submodules https://bitbucket.org/lpresearch/openzenros2.git
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# get your ROS2 environment going
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source /opt/ros/foxy/setup.bash
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cd ..
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colcon build
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source ./install/setup.bash
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```
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## Running the Driver
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You can now run the OpenZen ROS2 driver with this command in the window
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you used to compile the software:
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```
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ros2 run openzen_driver openzen_node --ros-args --remap __ns:=/openzen
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```
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By default, it will connect to the first available sensor. If you want to connect to
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a specific sensor, you can use the serial name of the sensor as parameter, for example:
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```
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ros2 run openzen_driver openzen_node --ros-args --remap __ns:=/openzen -p sensor_name:="LPMSCU2000573"
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```
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If your sensor is configured for a different baud rate, you can use the baudrate parameter to
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give a specfic baud rate setting:
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```
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ros2 run openzen_driver openzen_node --ros-args --remap __ns:=/openzen -p sensor_name:="LPMSCU2000573" -p baudrate:=115200
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```
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Now you can print the IMU values from ROS with:
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```
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ros2 topic echo /openzen/data
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```
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To output the values of a GPS unit (if available) use this command:
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```
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ros2 topic echo /openzen/nav
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```
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Or plot some values (for example linear acceleration) with
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```
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ros2 run rqt_plot rqt_plot /openzen/data/angular_velocity
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```
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We have prepared a sample launch file openzen_lpms.launch to demonstrate data acquisition and plotting using openzen_sensor_node:
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```
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ros2 launch openzen_driver openzen_lpms.launch.py
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```
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To change to autocalibration setting via the command line:
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```
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ros2 service call /enable_gyro_autocalibration std_srvs/SetBool "{data: true}"
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```
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To trigger an gyroscope calibration:
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```
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ros2 service call /calibrate_gyroscope std_srvs/Trigger
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```
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