10 DOF ROS IMU (A) User Guide

Hardware connection

1. Serial port connection, red wire VCC, black wire GND, blue wire TXD, yellow wire RXD
2. This product does not include a USB to UART serial port module

Assembly with same coordinate axes directions:

Axial description

The axial orientation of the 10 DOF ROS IMU (A) is shown in the figure above and conforms to the right-hand coordinate system

Dimensions

Demo

Serial communication

1. Install the serial port driver, find the device port number
   Install the corresponding driver according to the type of serial port conversion module chip
   • CP2102 driver
     
   • FT232 driver
     
   • CP2102 driver
     
   Take Windows as an example. The port number is shown in the following figure
   
   
2. Install the required dependencies
   Windows, Linux:

   pip install pyserial numpy pygame PyOpenGL

3. Initialize
   Replace the line 8 ser_port = "COM13" with the corresponding serial port, and rotate the Z-axis of the module more than a full circle perpendicular to the horizontal plane and the Z-axis balanced on the horizontal plane within 10 seconds
   Windows, Linux:

   python3 imu_init.py

4. Execute data parsing code
   Replace the line 7 ser_port = "COM13" with the corresponding serial port
   
   • Windows: Usually COMx.

   python3 imu_uart.py

   • Linux: Different ports for different systems, for example /dev/ttyUSBx, /dev/ttySx, you can query the device for confirmation of newly added devices by hot-plugging the devices

   ls /dev/tty*

   python3 imu_uart.py

5. GUI visualization interface
   Need to stop the data parsing program in the previous step and execute the following program

   python3 imu_uart_gui.py

   
   

Bluetooth communication

1. Install the Bluetooth debugging software and find the MAC address of the device
   
   • Installing nRF Connect on Android
     
   • Installing LightBlue on Apple
     
   Take Android as an example. The MAC address is shown in the figure below
   
   
2. Install the required dependencies
   
   • Windows:

   pip install bleak numpy

   • Linux:

   sudo apt-get install bluez libbluetooth-dev

   pip install gatt

3. Execute the code
   Before use, it is recommended to perform the initialization steps in serial communication
   
   • Windows: Replace line 14 par_device_addr="70:53:B2:02:20:02" with the MAC address found in the first step

   python3 imu_ble.py

   • Linux: Replace with the MAC address found in the first step

   python3 imu_ble.py 70:53:B2:02:20:02

ROS serial communication

Take "/dev/ttyUSB0" as an example

1. Find the device port number
   • Query the device for confirmation of newly added devices by hot-plugging the devices

   ls /dev/tty*

   • Grant serial port permissions:

   sudo chmod 666 /dev/ttyUSB0

2. Install the required dependencies
   
   • ROS1 noetic:
     

   sudo apt update && sudo apt install ros-noetic-serial  ros-noetic-imu-tools

   • ROS2 humble:
     

   Install the serial port library

   cd serial && mkdir build && cd build
   cmake .. && make
   sudo make install

   Install other dependncies

   sudo apt update && sudo apt install libserial-dev  ros-humble-imu-tools

3. Compile
   
   • ROS1 noetic:
     

   Go to the root directory of the workspace and compile

   catkin_make -DCATKIN_WHITELIST_PACKAGES="imu"

   Update environment variables

   source devel/setup.bash

   • ROS2 humble:
     

   Go to the root directory of the workspace and compile

   colcon build --packages-select imu

   Update environment variables

   source install/setup.bash

4. Execute data parsing code
   

   • ROS1 noetic:
     

   Need to have Roscore started, or have a launch file running in the system

   (Optional) Open a new window to start roscore

   roscore

   Open a new window to parse data

   rosrun imu imu_node _port_name:=/dev/ttyUSB0

   Open a new window to view data

   rostopic echo /imu/data

   • ROS2 humble:
     

   Open a new window to parse data

   ros2 run imu imu_node --ros-args --param port_name:=/dev/ttyUSB0

   Open a new window to view data

   ros2 topic echo /imu/data

5. RVIZ visualization interface
   

   Need to stop the data parsing program in the previous step and execute the following program
   

   • ROS1 noetic:

   roslaunch imu imu_view.launch port_name:=/dev/ttyUSB0

   
   

   • ROS2 humble:

   ros2 launch imu imu_view.launch.py port_name:=/dev/ttyUSB0

   
   

Demo download

1. Click to download 10_DOF_ROS_IMU_(A) Code
2. Please install the related libraries and then run the demo. For the ROS demo, please compile and use it on the ROS system