ROS2 wrapper for Inertial Sense IMX5 IMUs. Functionality for GPS has not been added yet. Tested on RUG3-IMX5 IMU with ROS2 Humble. Code is heavily based on Inertial Sense ROS1 Driver with a help from MagiicLab ROS2 Driver. Every effort is made to follow the parameter and topic names of the 'Inertial Sense ROS1 Driver. See DID Descriptions for more information on published information.

mkdir -p ~/ros_ws/src
cd ~/ros_ws/src
git https://github.com/uah-crablab/inertialsense_imx5.git
cd ~/ros_ws/src/inertialsense_imx5/inertialsense_imx5/lib/inertial-sense-sdk/src/libusb && ./autogen.sh
cd ~/ros_ws && colcon build

ros2 run inertialsense_imx5 inertialsense_imx5_node 

Topics are enabled and disabled using parameters. By default, only the ins topic is published to save processor time in serializing unecessary messages.

• imu (sensor_msgs/Imu)
  • Imu measurements (accel and gyro) from DID_IMU or DID_IMU_MAG
• imu_raw (sensor_msgs/Imu)
  • Imu measurements (accel and gyro) from DID_IMU_RAW
• imu1_raw (sensor_msgs/Imu)
  • Imu1 measurements (accel and gyro) from DID_IMU3_RAW
• imu2_raw (sensor_msgs/Imu)
  • Imu2 measurements (accel and gyro) from DID_IMU3_RAW
• imu3_raw (sensor_msgs/Imu)
  • Imu3 measurements (accel and gyro) from DID_IMU3_RAW
• mag (sensor_msgs/MagneticField)
  • magnetic field measurement from DID_MAG, DID_IMU_MAG, or DID_PIMU_MAG
• baro (sensor_msgs/FluidPressure)
  • barometer measurements in kPa from DID_BAROMETER
• preint_imu (inertial_sense_ros/PreIntImu)
  • preintegrated coning integral of IMU measurements from DID_PIMU or DID_PIMU_MAG

• port (string, default: "/dev/ttyACM0")
  • Serial port to connect to
• baudrate (int, default: 921600)
  • baudrate of serial communication
• frame_id (string, default "body")
  • frame id of all measurements
• enable_log (bool, default: false)
  • enable Inertial Sense Logger - logs PPD log in .dat format
• navigation_dt_ms (int, default: 10)
  • milliseconds between internal navigation filter updates. This is also determines the rate at which the topics are published.
• imu_dt_ms (int, default: 1)
  • IMU sample (system input data) period in milliseconds set on startup. See startupImuDtMs within DID Descriptions
• declination (float, default: 0.0)
  • declination angle of local magnetic field

Topic Configuration

• stream_preint_IMU_mag_ (bool, default: false)
  • Flag to stream preintegrated IMU with magnetometometer (DID_PIMU_MAG)
• stream_IMU_mag (bool, default: true)
  • Flag to stream both IMU and magnetometer measurements (DID_IMU_MAG)
• stream_IMU (bool, default: false)
  • Flag to stream IMU measurements or not (DID_IMU)
• stream_preint_IMU (bool, default: false)
  • Flag to stream preintegrated IMU or not (DID_PIMU)
• stream_IMU_raw (bool, default: false)
  • Flag to stream DID_IMU_RAW message
• stream_IMU3_raw (bool, default: false)
  • Flag to stream DID_IMU3_RAW message
• stream_baro (bool, default: false)
  • Flag to stream baro or not (DID_BAROMETER)
• stream_mag (bool, default: false)
  • Flag to stream magnetometer or not (DID_MAGNETOMETER)

• Be sure to add yourself to dialout group

sudo usermod -a -G dialout $USER`

• If sensor doesn't connect, try 'enabling' the serial port

sudo chmod a+rw /dev/ttyACM0