Phidgets gyroscope ROS driver

This is the ROS driver for Phidgets gyroscope. The various topics, services, and parameters that the node operates with are listed below.

Topics

• imu/is_calibrated (std_msgs/Bool) - Whether the gyroscope has been calibrated; this will be done automatically at startup time, but can also be re-done at any time by calling the imu/calibrate service.
• imu/data_raw (sensor_msgs/Imu) - The raw data coming out of the gyroscope.

Services

• imu/calibrate (std_srvs/Empty) - Run calibration on the gyroscope.

Parameters

• serial (int) - The serial number of the phidgets gyroscope to connect to. If -1 (the default), connects to any gyroscope phidget that can be found.
• hub_port (int) - The phidgets VINT hub port to connect to. Only used if the gyroscope phidget is connected to a VINT hub. Defaults to 0.
• frame_id (string) - The header frame ID to use when publishing the message. Defaults to REP-0145 compliant imu_link.
• angular_velocity_stdev (double) - The standard deviation to use for the angular velocity when publishing the message. Defaults to 0.095deg/s.
• time_resynchronization_interval_ms (int) - The number of milliseconds to wait between resynchronizing the time on the Phidgets spatial with the local time. Larger values have less “jumps”, but will have more timestamp drift. Setting this to 0 disables resynchronization. Defaults to 5000 ms.
• data_interval_ms (int) - The number of milliseconds between acquisitions of data on the device. Defaults to 8 ms.
• callback_delta_epsilon_ms (int) - The number of milliseconds epsilon allowed between callbacks when attempting to resynchronize the time. If this is set to 1, then a difference of data_interval_ms plus or minus 1 millisecond will be considered viable for resynchronization. Higher values give the code more leeway to resynchronize, at the cost of potentially getting bad resynchronizations sometimes. Lower values can give better results, but can also result in never resynchronizing. Must be less than data_interval_ms. Defaults to 1 ms.
• publish_rate (int) - How often the driver will publish data on the ROS topic. If 0 (the default), it will publish every time there is an update from the device (so at the data_interval_ms). If positive, it will publish the data at that rate regardless of the acquisition interval.

Changelog for package phidgets_gyroscope

1.0.9 (2024-03-13)

1.0.8 (2023-11-27)

1.0.7 (2023-03-02)

1.0.6 (2022-12-01)

• Merge pull request #129 from mintar/feat-pre-commit Add pre-commit, move from travis to GitHub actions, fix style
• Don't modify CMAKE_CXX_FLAGS
• Fix clang-format
• Add support for VINT networkhub (#127)
• Contributors: James Haley, Martin Günther

1.0.5 (2022-02-17)

1.0.4 (2021-10-22)

1.0.3 (2021-09-29)

1.0.2 (2021-03-09)

• Don't publish messages that jumped back in time. (#85)
• Log synchronization window details at DEBUG level. (#82)
• Contributors: Michael Grupp

1.0.1 (2020-06-04)

• Set cmake_policy CMP0048 to fix warning
• Contributors: Martin Günther

1.0.0 (2020-06-03)

• Fix wrong defaults for standard deviations (#48) The old parameter defaults were wrong: | parameter | old default | new default | | | | | | angular_velocity_stdev | 0.000349056 rad/s (= 0.02 deg/s) | 0.001658 rad/s (= 0.095deg/s) | | linear_acceleration_stdev | 0.002943 m/s\^2 (= 0.0003 g) | 0.002745862 m/s\^2 (= 0.00028 g) | | magnetic_field_stdev | 0.001658 rad/s (= 0.095deg/s) | 1.1e-7 T (= 1.1 mG) | Notes: T = Tesla, mG = milligauss This is a forward-port of #46 to noetic. Specifications come from the PhidgetSpatial Precision 3/3/3 1044_0 data sheet: https://www.phidgets.com/?&prodid=32
• Improve the IMU calibration service (#47)
  • Change misleading IMU calibration log message.
  • Block 2 seconds in IMU calibration handler.

  * Make is_calibrated topic latched Forward-port of #41. Fixes #42.

• Update maintainers in package.xml
• Merge pull request #39 from clalancette/add-libphidget22 Switch to libphidget22
• Resynchronize the times at periodic intervals.
• Add launch files for all drivers.
• Add in try/catch blocks for connecting. If an error occurs, we catch it, print it, then re-throw it. This allows us to show a better error when using nodelets.
• Fixes from review.
• Documentation updates to README.md
• Set the publish_rate to 0 by default. This means we will only publish on changes.
• Add in the license files and add to the headers.
• Remove nodes in favor of nodelets.
• Add support for Phidgets Gyroscope sensors.
• Contributors: Chris Lalancette, Martin Günther