wit_node

This is the ROS nodelet package for wit motion company imu and gps sensor. Providing driver, ros driver and nodelet intergrating program.

Dependencies and Install

1. ROS
2. ros--ecl

Install ecl by

sudo apt install ros-<distro>-ecl

Usage

Launch the only ROS launch file:

roslaunch wit_node wit.launch

About parameter:

-port

This is the port that device name in Linux system, for example the default port name is "/dev/ttyUSB0"

Msg

ImuGpsRaw

Header header

float64 time

float64[] acc

float64[] gyro

float64[] rpy

float64[] mag

uint16[] ps #port state

float64 temperature

float64 altitude

float64 ap #atmosphere pressure

float64 latitude

float64 longtitude

float64 gpsh #gps height

float64 gpsy #gps yaw

float64 gpsv #gps velocity

float64[] quarternion

uint8 sn #satelites number

float64[] dop

Published Topics

/imu (sensor_msgs/Imu)

The standard ROS imu sensor msg which include orientation by filtered RPY.

/gps (sensor_msgs/NavSatFix)

The standard ROS gps or navigation satellites msg.

/wit/raw_data (wit_node/ImuGpsRaw)

All raw data provided by the wit device, including nine axises data, atmosphere pressure, temperature, latitude,longitude, altitude, satellites number .etc

/wit/related_yaw (std_msgs/Float64)

The offseted imu yaw data, which means the zero direction is start direction.

Subscribed Topics

/wit/reset_offset (std_msgs/Empty)

Reset the offset yaw angle to current yaw, so the zero direction is turned to current direction.