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Create node to receive data from OXTS imu

asked 2016-03-24 07:15:46 -0500

b-sriram gravatar image

updated 2016-03-24 07:16:35 -0500

Hi,

I have an OXTS box basically a imu + gps. I have connected it through Ethernet port.

I'm fairly new to ROS and don't know how to create a UDP socket in ros to receive the data i.e the UDP broadcast from the OXTS.

Could someone please suggest where I should start? Thanks

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If the device is capable of outputting NMEA messages, you might be able to use any of the available NMEA compatible drivers (such as ros-drivers/nmea_navsat_driver).

gvdhoorn gravatar imagegvdhoorn ( 2016-03-24 08:23:47 -0500 )edit

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answered 2016-03-24 08:22:59 -0500

kmhallen gravatar image

updated 2016-03-24 08:23:31 -0500

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thanks a lot

b-sriram gravatar imageb-sriram ( 2016-03-24 08:54:26 -0500 )edit

@b-sriram Hi, have you solved the problem? I tried this but it doesnt publish anything...

Bill5785 gravatar imageBill5785 ( 2017-03-06 14:58:11 -0500 )edit

Ya the problem was solved. Did you get any message like connected to RT3003v2 on the terminal when you run the node?

PS: First and foremost the OXTS has to be initialised

b-sriram gravatar imageb-sriram ( 2017-03-06 15:45:32 -0500 )edit

yeah I got like "connected to <ip> at port (3000)". I checked the official website and it says initialize by speed > 5m/s. Have you done this? I cannt believe it because normally GPS can publish data whenever state it is...

Bill5785 gravatar imageBill5785 ( 2017-03-06 16:02:48 -0500 )edit

Its true if you use the GUI provided with OXTS. But to get NCOM packets it has to be initialised. Once initialised the node starts to publish all the data

b-sriram gravatar imageb-sriram ( 2017-03-06 16:20:15 -0500 )edit

Thank you very much! I will try that.@b-sriram

Bill5785 gravatar imageBill5785 ( 2017-03-06 16:37:56 -0500 )edit

@b-sriram just want to make sure. Once initialized, do I need to always keep the speed > 5? If so, this doesnt make sense to me...

Bill5785 gravatar imageBill5785 ( 2017-03-06 18:38:36 -0500 )edit
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Initializing once is enough. Then you'd be getting continuous output from the sensors

b-sriram gravatar imageb-sriram ( 2017-03-07 11:55:56 -0500 )edit
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answered 2019-08-26 09:27:44 -0500

RosNav gravatar image

It is possible to get IMU Data even when not initialized. If you take a closer look on the source code, it gets pretty obvious, that only:

if (packet->nav_status == 4)

any data get published. If you change that to:

if(packet->nav_status == 1)

you can receive even data, if GNSS is not initialized. I don't know if there is a use-case for it and I do not recommend it. But maybe if you only want to check if data are received if the status is "IMU ONLY" then this might help.

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Asked: 2016-03-24 07:15:46 -0500

Seen: 478 times

Last updated: Aug 26