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Package Summary

Released Documented

The um6 package provides a C++ implementation of the CH Robotics serial protocol, and a corresponding ROS node for publishing standard ROS orientation topics from a UM6.

Package Summary

Released Continuous integration Documented

The um6 package provides a C++ implementation of the CH Robotics serial protocol, and a corresponding ROS node for publishing standard ROS orientation topics from a UM6.

  • Maintainer status: maintained
  • Maintainer: Mike Purvis <mpurvis AT clearpathrobotics DOT com>
  • Author: Mike Purvis <mpurvis AT clearpathrobotics DOT com>
  • License: BSD
  • Source: git https://github.com/ros-drivers/um6.git (branch: indigo-devel)

Package Summary

Released Continuous integration Documented

The um6 package provides a C++ implementation of the CH Robotics serial protocol, and a corresponding ROS node for publishing standard ROS orientation topics from a UM6.

  • Maintainer status: maintained
  • Maintainer: Mike Purvis <mpurvis AT clearpathrobotics DOT com>
  • Author: Mike Purvis <mpurvis AT clearpathrobotics DOT com>
  • License: BSD
  • Source: git https://github.com/ros-drivers/um6.git (branch: indigo-devel)

Package Summary

Released Continuous integration Documented

The um6 package provides a C++ implementation of the CH Robotics serial protocol, and a corresponding ROS node for publishing standard ROS orientation topics from a UM6.

  • Maintainer status: maintained
  • Maintainer: Mike Purvis <mpurvis AT clearpathrobotics DOT com>
  • Author: Mike Purvis <mpurvis AT clearpathrobotics DOT com>
  • License: BSD
  • Source: git https://github.com/ros-drivers/um6.git (branch: indigo-devel)
Cannot load information on name: um6, distro: lunar, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

um6.jpg

Overview

This package provides a comprehensive, C++ driver for the UM6 orientation device produced by CH Robotics.

The UM6 is available for purchase directly from CH Robotics. Alternatively, the UM6 is available as a standard supported accessory from Clearpath Robotics—for example, for use with Husky.

For further information about this device and its configuration, please see its datasheet.

Axes Convention

As an avionics device, the UM6's serial protocol reports values in NED. The driver contained in this package converts vectors and quaternions to the ROS convention (ENU) before publishing, which is:

Please see REP-0103 for more information.

Internal Compass

The UM6 contains a MEMS magnetometer, but accurately calibrating it to achieve a robust heading report has been found to be a tricky business, especially if the device is mounted in a configuration other than level to the ground.

At ClearpathRobotics, we use a configuration which subscribes to the magnetometer as a raw data feed, and fuses it into the orientation as a process external to the device. This functionality is provided via the imu_compass package.

Installation

Install the package from debians:

sudo apt-get install ros-$ROS_DISTRO-um6

Run the driver like so:

rosrun um6 um6_driver _port:=/dev/ttyUSB0

Note: A rosbuild branch is also available in the repository, for users working with rosbuild workspaces under Fuerte or Groovy.

Nodes

um6_driver

Basic serial driver.

Published Topics

imu/data (sensor_msgs/Imu) imu/mag (geometry_msgs/Vector3Stamped) imu/rpy (geometry_msgs/Vector3Stamped) imu/temperature (std_msgs/Float32)

Parameters

~port (string, default: /dev/ttyUSB0) ~baud (int, default: 115200) ~mag_updates (bool, default: true) ~accel_updates (bool, default: true) ~mag_ref/[x,y,z] (float, default: value from flash memory) ~accel_ref/[x,y,z] (float, default: value from flash memory) ~mag_bias/[x,y,z] (float, default: value from flash memory) ~accel_bias/[x,y,z] (float, default: value from flash memory) ~gyro_bias/[x,y,z] (float, default: value from flash memory)


2017-09-23 13:28