Create node to receive data from OXTS imu

asked 2016-03-24 07:15:46 -0600

b-sriram
105 ●24 ●27 ●33

updated 2016-03-24 07:16:35 -0600

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 ( 2016-03-24 08:23:47 -0600 )edit

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answered 2016-03-24 08:22:59 -0600

kmhallen
1411 ●13 ●19 ●35

updated 2016-03-24 08:23:31 -0600

This following driver might work for you.
http://wiki.ros.org/oxford_gps_eth
https://bitbucket.org/DataspeedInc/ox...

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thanks a lot

b-sriram ( 2016-03-24 08:54:26 -0600 )edit

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

Bill5785 ( 2017-03-06 14:58:11 -0600 )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 ( 2017-03-06 15:45:32 -0600 )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 ( 2017-03-06 16:02:48 -0600 )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 ( 2017-03-06 16:20:15 -0600 )edit

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

Bill5785 ( 2017-03-06 16:37:56 -0600 )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 ( 2017-03-06 18:38:36 -0600 )edit

1

Initializing once is enough. Then you'd be getting continuous output from the sensors

b-sriram ( 2017-03-07 11:55:56 -0600 )edit

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answered 2019-08-26 09:27:44 -0600

RosNav
21 ●3 ●5 ●6

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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Create node to receive data from OXTS imu

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