OSCP IMU ROS2 Driver (oscp_imu_driver)

Lightweight, configurable ROS 2 driver for OSCP-family IMUs. The node decodes the device’s operating frames and publishes both native OSCP frame messages and standard ROS sensor_msgs types.

Supported ROS 2 distributions

ROS 2 distro	Branch	Ubuntu	CI
Lyrical	lyrical	26.04
Jazzy	jazzy	24.04
Humble	humble	22.04

Overview

• Supported outputs: raw IMU frames, quaternion, Euler angles, rotation matrix, GNSS (if available), and standard ROS sensor_msgs (Imu, MagneticField, Temperature).
• Designed for real-time/high-rate telemetry; uses SensorDataQoS for publishers and subscribers by default in code.

Features

• Multi-format IMU output (native OSCP messages and standard ROS messages)
• ROS 2 native integration (rclcpp, action/service support)
• Configurable runtime parameters via YAML/launch
• Lightweight serial/CAN-FD transport layer

Installation

Clone into your ROS 2 workspace and build:

cd ~/ros2_ws/src
git clone -b jazzy https://github.com/OSCPS/oscp_ros2_driver # or -b humble
cd ..
rosdep update
rosdep install --from-paths src -y --ignore-src --rosdistro "$ROS_DISTRO"
colcon build --packages-select oscp_imu_driver
source install/setup.bash

Usage

Launch the IMU node using the provided launch file and config YAML:

ros2 launch oscp_imu_driver oscp_imu.launch.py config_file:=default.yaml

You can override node parameters via the launch file or with --ros-args -p.

Launch / Config Parameters

The node reads parameters from a YAML file passed as config_file to the launch. Key parameters include:

• device (string): serial device (default /dev/ttyUSB0)
• baudrate (int): serial baud rate (default 921600)
• frame_id (string): TF frame id for published messages (default imu_link)
• operating_mode (string): e.g. MEDIUM (affects internal IMU rates)
• publish_standard_ros (bool): enable publishing sensor_msgs::Imu + others
• publish_oscp_raw (bool): enable native /oscp/raw messages
• publish_oscp_quat (bool): enable native /oscp/quat messages
• publish_oscp_euler (bool): enable native /oscp/euler messages
• publish_oscp_rot (bool): enable native /oscp/rot messages
• publish_oscp_gnss (bool): enable native /oscp/gnss messages
• watchdog_timeout_ms (double): timeout for frame watchdog
• parser_stats_log_interval_s (double): interval to log parser stats (0 disables)

Refer to src/oscp_ros2_driver/oscp_imu_driver/config/default.yaml for the full default set.

Topics

Native OSCP frame topics (types are in oscp_imu_msgs):

• /oscp/raw (oscp_imu_msgs::msg::OscpRaw)
• /oscp/quat (oscp_imu_msgs::msg::OscpQuat)
• /oscp/euler (oscp_imu_msgs::msg::OscpEuler)
• /oscp/rot (oscp_imu_msgs::msg::OscpRot)
• /oscp/gnss (oscp_imu_msgs::msg::OscpGnss)

Standard ROS topics:

• /oscp/imu/data (sensor_msgs::msg::Imu)
• /oscp/imu/mag (sensor_msgs::msg::MagneticField)
• /oscp/imu/temp (sensor_msgs::msg::Temperature)

QoS Guidance

For high-rate IMU telemetry, use SensorDataQoS in code for publishers/subscribers. Example (C++):

auto qos = rclcpp::SensorDataQoS();
qos.keep_last(1000);

publisher = this->create_publisher<oscp_imu_msgs::msg::OscpRaw>("/oscp/raw", qos);

Notes:

• The ros2 topic hz CLI in this ROS 2 distribution does not accept QoS arguments; it subscribes with default QoS. Use ros2 topic echo with a QoS profile for QoS-matching CLI checks, or run a small subscriber node.
• Example (CLI QoS-aware echo):

```bash

File truncated at 100 lines see the full file