myahrs_driver

Overview

This is a driver package for the WITHROBOT's myAHRS+ from http://www.lilliputdirect.com/odroid-myahrs|lilliputdirect and http://www.hardkernel.com/main/products/prdt_info.php?g_code=G141464363369 . The myAHRS+ is a low cost high performance AHRS(Attitude Heading Reference System) with USB/UART/I2C interface. The myAHRS+ board contains a 3-axis 16-bit gyroscope, a 3-axis 16-bit accelerometer and a 3-axis 13-bit magnetometer. The driver should also work with USB port.

Axes Convention

The myAHRS+ board used NED type. The myahrs_driver contained in this package converts to the frame conventions of ROS (use the east north up (ENU) convention and right hand rule) before publishing the msgs. The driver use the coordinate frame below. Please see http://www.ros.org/reps/rep-0103.html#axis-orientation for more information.

• x forward

• y left

• z up

• NED type IMU: x-north, y-east, z-down, relative to magnetic north.

• ENU type IMU: x-east, y-north, z-up, relative to magnetic north.

Original Source

The original source (not support ROS) is maintained github below and tutorials are on the corresponding wiki page. A 3D visualization test like 3D-box is included in this original source. This package used the myAHRS+ SDK below.

https://github.com/withrobot/myAHRS_plus

Video

This is a visualization demonstration using RViz.

Installation

Install the package:

sudo apt-get install ros-indigo-myahrs-driver

Install the package from the github:

cd ~/catkin_ws/src
git clone https://github.com/robotpilot/myahrs_driver.git
cd ~/catkin_ws && catkin_make

Run

Run the driver like so:

rosrun myahrs_driver myahrs_driver _port:=/dev/ttyACM0

or

roslaunch myahrs_driver myahrs_driver.launch

Nodes

Official ROS documentation can be found on the ROS wiki at:

http://wiki.ros.org/myahrs_driver

Communication Protocol Manual and Forum

The myAHRS+ protocol can be found here(https://github.com/withrobot/myAHRS_plus/tree/master/tutorial). The Forum for myAHRS+ user can be found here(http://forum.odroid.com/viewforum.php?f=109).

References

References for myAHRS+ board

• http://www.withrobot.com/myahrs_plus_en/

• http://www.withrobot.com/?wpdmact=process&did=MTE4LmhvdGxpbms=

• https://github.com/robotpilot/myAHRS_plus

• http://www.hardkernel.com/main/products/prdt_info.php?g_code=G141464363369

• http://www.lilliputdirect.com/odroid-myahrs

References for convention of axes and unit

• http://www.ros.org/reps/rep-0003.html
• http://www.ros.org/reps/rep-0103.html
• https://github.com/paulbovbel/rep/blob/master/rep-0145.rst

References for similar IMU packages

• http://wiki.ros.org/um6

• http://wiki.ros.org/razor_imu_9dof

• https://github.com/KristofRobot/razor_imu_9dof

• http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html