用于SBG系统IMU/AHRS/INS单元（例如ELLIPSE或QUANTA）的ROS1驱动程序。C++_CMake_下载

# sbg_driver [](https://build.ros.org/job/Mdev__sbg_driver__ubuntu_bionic_amd64/lastBuild/) ## Overview ROS package for SBG Systems IMU.<br /> The driver allows the user to configure the IMU (if possible, according to the device), to receive messages from the Sbg message protocol, publish ROS standard messages , and to calibrate the magnetometers. <i>Initial work has been done by [ENSTA Bretagne](https://github.com/ENSTABretagneRobotics).</i> **Author : [SBG Systems](https://www.sbg-systems.com/)<br /> Maintainer : SBG Systems, support@sbg-systems.com** ## Installation ### Installation from Packages User can install the sbg_ros_driver through the standard ROS installation system. * Melodic ```sudo apt-get install ros-melodic-sbg-driver``` * Noetic ```sudo apt-get install ros-noetic-sbg-driver``` ### Building from sources #### Dependencies * [Robot Operating System (ROS)](http://wiki.ros.org/) * SBG communication protocol sbgECom, v1.11.920-stable (full compatible with firmwares from 1.7.x). #### Building 1. Clone the repository (use a Release version) 2. Build using the normal ROS catkin build system ``` cd catkin_ws/src git clone https://github.com/SBG-Systems/sbg_ros_driver.git cd ../ catkin_make ``` ## Usage To run the default Ros node with the default configuration ``` roslaunch sbg_driver sbg_device.launch ``` To run the magnetic calibration node ``` roslaunch sbg_driver sbg_device_mag_calibration.launch ``` ## Config files ### Default config files Every configuration file is defined according to the same structure.<br /> * **sbg_device_uart_default.yaml** <br /> This config file is the default one for Uart connection with the device. <br /> It does not configure the device through the ROS node, so it has to be previously configured (manually or with the ROS node). <br /> It defines a few outputs for the device : * `/sbg/imu_data`, `/sbg/ekf_quat` at 25Hz * ROS standard outputs `/imu/data`, `/imu/velocity`, `/imu/temp` at 25Hz * `/sbg/status`, `/sbg/utc_time` and `/imu/utc_ref` at 1Hz. * **sbg_device_udp_default.yaml** <br /> This config file is the default one for an Udp connection with the device. <br /> It does not configure the device through the ROS node, so it has to be previously configured (manually or with the ROS node). <br /> It defines a few outputs for the device : * `/sbg/imu_data`, `/sbg/ekf_quat` at 25Hz * ROS standard outputs `/imu/data`, `/imu/velocity`, `/imu/temp` at 25Hz * `/sbg/status`, `/sbg/utc_time` and `/imu/utc_ref` at 1Hz. ### Example config files * **ellipse_A_default.yaml** <br /> Default config file for an Ellipse-A. * **ellipse_E_default.yaml** <br /> Default config file for an Ellipse-E with an external antenna and external Gnss. * **ellipse_N_default.yaml** <br /> Default config file for an Ellipse-N with an external antenna and internal Gnss. * **ellipse_D_default.yaml** <br /> Default config file for an Ellipse-D. ## Launch files ### Default launch files * **sbg_device.launch** <br /> Launch the sbg_device node to handle the receivde data, and load the `sbg_device_uart_default.yaml` configuration. * **sbg_device_mag_calibration.launch** <br /> Launch the sbg_device_mag node to calibrate the magnetometers, and load the `ellipse_E_default.yaml` configuration. ## Nodes ### sbg_device The sbg_device node handles the communication with the connected device, and publishes the SBG output to the Ros environment. #### Published Topics ##### SBG specific topics * **`/sbg/status`** [sbg_driver/SbgStatus](http://docs.ros.org/api/sbg_driver/html/msg/SbgStatus.html) Provides informations about the general status (Communication, Aiding, etc..). * **`/sbg/utc_time`** [sbg_driver/SbgUtcTime](http://docs.ros.org/api/sbg_driver/html/msg/SbgUtcTime.html) Provides UTC time reference. * **`/sbg/imu_data`** [sbg_driver/SbgImuData](http://docs.ros.org/api/sbg_driver/html/msg/SbgImuData.html) IMU status, and sensors values. * **`/sbg/ekf_euler`** [sbg_driver/SbgEkfEuler](http://docs.ros.org/api/sbg_driver/html/msg/SbgEkfEuler.html) Computed orientation using Euler angles. * **`/sbg/ekf_quat`** [sbg_driver/SbgEkfQuat](http://docs.ros.org/api/sbg_driver/html/msg/SbgEkfQuat.html) Computed orientation using Quaternion. * **`/sbg/ekf_nav`** [sbg_driver/SbgEkfNav](http://docs.ros.org/api/sbg_driver/html/msg/SbgEkfNav.html) Computed navigation data. * **`/sbg/mag`** [sbg_driver/SbgMag](http://docs.ros.org/api/sbg_driver/html/msg/SbgMag.html) Magnetic data. * **`/sbg/mag_calib`** [sbg_driver/SbgMagCalib](http://docs.ros.org/api/sbg_driver/html/msg/SbgMagCalib.html) Magnetometer calibration data. * **`/sbg/ship_motion`** [sbg_driver/SbgShipMotion](http://docs.ros.org/api/sbg_driver/html/msg/SbgShipMotion.html) Heave, surge and sway data. * **`/sbg/gps_vel`** [sbg_driver/SbgGpsVel](http://docs.ros.org/api/sbg_driver/html/msg/SbgGpsVel.html) GPS velocities from GPS receiver. * **`/sbg/gps_pos`** [sbg_driver/SbgGpsPos](http://docs.ros.org/api/sbg_driver/html/msg/SbgGpsPos.html) GPS positions from GPS receiver. * **`/sbg/gps_hdt`** [sbg_driver/SbgGpsHdt](http://docs.ros.org/api/sbg_driver/html/msg/SbgGpsHdt.html) GPS true heading from dual antenna system. * **`/sbg/gps_raw`** [sbg_driver/SbgGpsRaw](http://docs.ros.org/api/sbg_driver/html/msg/SbgGpsRaw.html) GPS raw data for post processing. * **`/sbg/odo_vel`** [sbg_driver/SbgOdoVel](http://docs.ros.org/api/sbg_driver/html/msg/SbgOdoVel.html) Odometer velocity. * **`/sbg/event[ABCDE]`** [sbg_driver/SbgEvent](http://docs.ros.org/api/sbg_driver/html/msg/SbgEvent.html) Event on sync in the corresponding pin. * **`/sbg/pressure`** [sbg_driver/SbgPressure](http://docs.ros.org/api/sbg_driver/html/msg/SbgPressure.html) Pressure data. ##### ROS standard topics In order to define ROS standard topics, it requires sometimes several SBG messages, to be merged. For each ROS standard, you have to activate the needed SBG outputs. * **`/imu/data`** [sensor_msgs/Imu](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Imu.html) IMU data. Requires `/sbg/imu_data` and `/sbg/ekf_quat`. * **`/imu/temp`** [sensor_msgs/Temperature](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Temperature.html) IMU temperature data. Requires `/sbg/imu_data`. * **`/imu/velocity`** [geometry_msgs/TwistStamped](http://docs.ros.org/melodic/api/geometry_msgs/html/msg/TwistStamped.html) IMU velocity data. Requires `/sbg/imu_data` and `/sbg/ekf_nav` and either `/sbg/ekf_euler` or `/sbg/ekf_quat`. * **`/imu/mag`** [sensor_msgs/MagneticField](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/MagneticField.html) IMU magnetic field. Requires `/sbg/mag`. * **`/imu/pres`** [sensor_msgs/FluidPressure](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/FluidPressure.html) IMU pressure data. Requires `/sbg/pressure`. * **`/imu/pos_ecef`** [geometry_msgs/PointStamped](http://docs.ros.org/melodic/api/geometry_msgs/html/msg/PointStamped.html) Earth-Centered Earth-Fixed position. Requires `/sbg/ekf_nav`. * **`/imu/utc_ref`** [sensor_msgs/TimeReference](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/TimeReference.html) UTC time reference. Requires `/sbg/utc_time`. * **`/imu/nav_sat_fix`** [sensor_msgs/NavSatFix](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/NavSatFix.html) Navigation satellite fix for any Global Navigation Satellite System. Requires `/sbg/gps_pos`. * **`/imu/odometry`** [nav_msgs/Odometry](http://docs.ros.org/en/melodic/api/nav_msgs/html/msg/Odometry.html) UTM projected position relative to the first valid INS position. Requires `/sbg/imu_data` and `/sbg/ekv_nav` and either `/sbg/ekf_euler` or `/sbg/ekf_quat`. Disabled by default, set odometry.enable in configuration file. ### sbg_device_mag The sbg_device_mag