Show EOL distros:
phidgets_drivers: phidgets_api | phidgets_c_api | phidgets_imu | phidgets_ir
Package Summary
Documented
Driver for the Phidgets Spatial 3/3/3 device.
- Author: Ivan Dryanovski
- License: BSD
- Source: git https://github.com/ccny-ros-pkg/phidgets_drivers.git (branch: fuerte)
phidgets_drivers: phidgets_api | phidgets_imu | phidgets_ir
Package Summary
Documented
Driver for the Phidgets Spatial 3/3/3 devices
- Maintainer: Murilo F. M. <muhrix AT gmail DOT com>, Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>
- Author: Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>
- License: BSD
- Source: git https://github.com/ccny-ros-pkg/phidgets_drivers.git (branch: groovy)
phidgets_drivers: phidgets_api | phidgets_imu | phidgets_ir
Package Summary
Released
Documented
Driver for the Phidgets Spatial 3/3/3 devices
- Maintainer status: maintained
- Maintainer: Murilo FM <muhrix AT gmail DOT com>, Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>
- Author: Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>
- License: BSD
- Source: git https://github.com/ccny-ros-pkg/phidgets_drivers.git (branch: hydro)
phidgets_drivers: phidgets_api | phidgets_imu | phidgets_ir
Package Summary
Released
Documented
Driver for the Phidgets Spatial 3/3/3 devices
- Maintainer status: maintained
- Maintainer: Martin Guenther <martin.guenther AT dfki DOT de>, Murilo FM <muhrix AT gmail DOT com>
- Author: Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros-drivers/phidgets_drivers/issues
- Source: git https://github.com/ros-drivers/phidgets_drivers.git (branch: indigo)
phidgets_drivers: libphidget21 | phidgets_api | phidgets_imu
Package Summary
Released
Documented
Driver for the Phidgets Spatial 3/3/3 devices
- Maintainer status: maintained
- Maintainer: Martin Guenther <martin.guenther AT dfki DOT de>, Murilo FM <muhrix AT gmail DOT com>
- Author: Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros-drivers/phidgets_drivers/issues
- Source: git https://github.com/ros-drivers/phidgets_drivers.git (branch: jade)
phidgets_drivers: libphidget21 | phidgets_api | phidgets_high_speed_encoder | phidgets_ik | phidgets_imu | phidgets_msgs
Package Summary
Released
Documented
Driver for the Phidgets Spatial 3/3/3 devices
- Maintainer status: maintained
- Maintainer: Martin Günther <martin.guenther AT dfki DOT de>, Chris Lalancette <clalancette AT openrobotics DOT org>
- Author: Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros-drivers/phidgets_drivers/issues
- Source: git https://github.com/ros-drivers/phidgets_drivers.git (branch: kinetic)
phidgets_drivers: libphidget21 | phidgets_api | phidgets_high_speed_encoder | phidgets_imu
Package Summary
Released
Documented
Driver for the Phidgets Spatial 3/3/3 devices
- Maintainer status: developed
- Maintainer: Martin Guenther <martin.guenther AT dfki DOT de>, Murilo FM <muhrix AT gmail DOT com>
- Author: Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros-drivers/phidgets_drivers/issues
- Source: git https://github.com/ros-drivers/phidgets_drivers.git (branch: lunar)
phidgets_drivers: libphidget21 | phidgets_api | phidgets_high_speed_encoder | phidgets_ik | phidgets_imu | phidgets_msgs
Package Summary
Released
Documented
Driver for the Phidgets Spatial 3/3/3 devices
- Maintainer status: maintained
- Maintainer: Martin Günther <martin.guenther AT dfki DOT de>, Chris Lalancette <clalancette AT openrobotics DOT org>
- Author: Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros-drivers/phidgets_drivers/issues
- Source: git https://github.com/ros-drivers/phidgets_drivers.git (branch: melodic)
Contents
Overview
The phidgets_imu package contains a ROS driver for the Phidgets Spatial 3/3/3 IMU sensor. The driver publishes the following data:
linear acceleration and angular velocities as sensor_msgs/Imu
magnetic field as sensor_msgs/MagneticField or as geometry_msgs/Vector3Stamped (deprecated)
You can use this driver in conjunction with imu_filter_madgwick or a similar IMU filter to get an estimate for the orientation of the sensor from the fused sensor readings.
An example launch file for using the driver together with a filter is included in the package.
ROS API
phidgets_imu_node / phidgets_imu_nodelet
The phidgets_imu_node_node publishes IMU data from the Phidgets Spatial device.Published Topics
imu/data_raw (sensor_msgs/Imu)- The raw IMU data. Includes linear accelerations and angular velocities, but ***does not*** include orientation.
- The magnetic orientation vector
- Whether the IMU has been calibrated
Services
imu/calibrate (std_srvs/Empty)- Tells the IMU to (re)calibrate its gyroscope biases. The service call returns once calibration is complete. A message will published to imu/is_calibrated for each call to imu/calibrate.
Parameters
~frame_id (string, default: "imu")- The name of the frame attached to the published messages
- A period (in ms) which determines the rate at which data is streamed.
- the standard deviation of the angular velocity readings, in rad/s. Default value is 0.000349056 rad/s (= 0.02 °/s), as per manual.
- the standard deviation of the linear acceleration readings, in m/s². Default value is 0.002943 m/s² (= 0.0003 g), as per manual.
- the standard deviation of the magnetic field readings, in radians per second. Default value is 0.001658 rad/s (= 0.095°/s), as per manual.
