diff --git a/config/bno055_default_config.yaml b/config/bno055_default_config.yaml index 8e69b890a5680284c103a3db076045a77a0214a0..095be4bc84369fa1f1cc31efe0da635f9b29bcc2 100644 --- a/config/bno055_default_config.yaml +++ b/config/bno055_default_config.yaml @@ -1,5 +1,5 @@ update_rate: 100 -serial_device: '/dev/ttyUSB2' +serial_device: '/dev/ttyUSB0' tf_prefix: '' frame_id: 'imu_bno055' # 1 -> "Only enable the accelerometer" diff --git a/config/bno055_ndof_config.yaml b/config/bno055_ndof_config.yaml index b4f3b343e757b5097ce6ebdccbe8c072d89fc9e8..67bb7f0ad6aa3d8b6ca10a833287c6bb801d32d3 100644 --- a/config/bno055_ndof_config.yaml +++ b/config/bno055_ndof_config.yaml @@ -1,5 +1,5 @@ update_rate: 100 -serial_device: '/dev/ttyUSB2' +serial_device: '/dev/ttyUSB0' tf_prefix: '' frame_id: 'imu_bno055' # 1 -> "Only enable the accelerometer" diff --git a/launch/bno055_imu_test.launch b/launch/bno055_imu_test.launch index 880f362c10133ce124d0a57d0b1a0fc3bb0373ed..77e936a3df1247359f7f4d17f50d74de9c217eec 100644 --- a/launch/bno055_imu_test.launch +++ b/launch/bno055_imu_test.launch @@ -11,10 +11,11 @@ <arg name="output" default="screen" /> <arg name="launch_prefix" default="" /> - <remap from="/$(arg node_name)/imu" to="/$(arg node_name)/imu_data"/> + <arg name="imu_topic" default="/$(arg node_name)/imu" /> + <arg name="mag_topic" default="/$(arg node_name)/magnetometer" /> <param name="robot_description" - command="$(find xacro)/xacro --inorder '$(find iri_bno055_imu_description)/urdf/bno055_imu_example.xacro'" /> + command="$(find xacro)/xacro '$(find iri_bno055_imu_description)/urdf/bno055_imu_example.xacro'" /> <node pkg="robot_state_publisher" type="robot_state_publisher" name="bno055_tf_broadcaster"> <param name="tf_prefix" type="string" value="/"/> @@ -27,6 +28,8 @@ <arg name="node_name" value="$(arg node_name)"/> <arg name="output" value="$(arg output)"/> <arg name="launch_prefix" value="$(arg launch_prefix)"/> + <arg name="imu_topic" value="$(arg imu_topic)"/> + <arg name="mag_topic" value="$(arg mag_topic)"/> </include> <node name="rviz" diff --git a/rviz/bno055_imu.rviz b/rviz/bno055_imu.rviz new file mode 100644 index 0000000000000000000000000000000000000000..746535587d5531a1a380f8d8295bbbc3369d20f2 --- /dev/null +++ b/rviz/bno055_imu.rviz @@ -0,0 +1,178 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Imu1 + - /Imu2 + - /Imu2/Axes properties1 + Splitter Ratio: 0.5882353186607361 + Tree Height: 617 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: <Fixed Frame> + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + imu_base_parent: + Value: true + imu_bno055: + Value: true + imu_bno055_base: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + imu_base_parent: + imu_bno055_base: + imu_bno055: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Class: rviz_plugin_tutorials/Imu + Color: 204; 51; 204 + Enabled: true + History Length: 5 + Name: Imu + Topic: /bno055_imu/imu + Unreliable: false + Value: true + - Acceleration properties: + Acc. vector alpha: 1 + Acc. vector color: 117; 80; 123 + Acc. vector scale: 0.20000000298023224 + Derotate acceleration: true + Enable acceleration: true + Axes properties: + Axes scale: 0.30000001192092896 + Enable axes: true + Box properties: + Box alpha: 1 + Box color: 92; 53; 102 + Enable box: true + x_scale: 0.20000000298023224 + y_scale: 0.10000000149011612 + z_scale: 0.10000000149011612 + Class: rviz_imu_plugin/Imu + Enabled: true + Name: Imu + Topic: /bno055_imu/imu + Unreliable: false + Value: true + fixed_frame_orientation: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: imu_bno055 + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 8.365130424499512 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5097969770431519 + Target Frame: <Fixed Frame> + Value: Orbit (rviz) + Yaw: 1.1103976964950562 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f30000003efc0100000002fb0000000800540069006d00650000000000000004f3000004f300fffffffb0000000800540069006d0065010000000000000450000000000000000000000397000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1267 + X: 67 + Y: 0