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Install a Second IMU, Clearpath Husky

asked 2015-11-06 10:03:23 -0600

The_Mad_Geometer gravatar image

Dear Ros Community,

I am running a Clearpath Robotics Husky, and I would like to install a second IMU, a Microstrain 3DM-GX3-25. There is already a Microstrain 3DM-GX2 installed on the robot. How do I get the Husky to recognize the new IMU and also get the IMU to push messages into ROS?

Thanks!

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answered 2015-11-06 11:57:19 -0600

Akif gravatar image

AFAIK, you should use package microstrain_3dmgx2_imu ( http://wiki.ros.org/microstrain_3dmgx... ) to publish this new IMU. But to not to mix this one with the other IMU (possibly UM6), you should remap /imu/data topic of microstrain to another one. Like;

<node pkg="microstrain_3dmgx2_imu" type="imu_node" name="microstrain_3dmgx2_imu" output="screen">
        <remap from="/imu/data" to="/ms_imu/data" />
</node>

After these, you should include this new IMU into robot_localization via config ( https://github.com/husky/husky/blob/i... ).

For example you can add;

imu1: ms_imu/data
imu1_config: [false, false, false,
              true, true, true,
              false, false, false,
              true, true, true,
              false, false, false]
imu1_differential: true
imu1_remove_gravitational_acceleration: true

This should implement your new IMU into your setup.

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Thanks a lot, Akif. I just had to plug the IMU into the USB port on the Husky and set the launch files up as you described. It's working now, except that I need to figure out how to calibrate the IMU.

The_Mad_Geometer gravatar imageThe_Mad_Geometer ( 2015-11-11 16:42:00 -0600 )edit

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Asked: 2015-11-06 10:03:23 -0600

Seen: 349 times

Last updated: Nov 06 '15