Introduction

This ROS package provides an interface to interface with the KVH 1750 IMU, with support for a hardware time-of-validity signal using serial, and a plugin interface for supporting alternate publishing schemes. These are used to support the message types for MIT's Pronto state estimation library.

Configuration

1. link_name - link IMU is associated with
2. processor_type - string representing name of a pluginlib plugin to load for processing processing IMU data. This should be based on the MessageProcessorBase class in the repository.
3. rate - Frequency to set the IMU reporting data.
4. use_delta_angles - sets whether the IMU reports delta angles (change in angles between readings) or angular rates.
5. priority - Priority for this node to be inserted into the scheduler.
6. use_rt - Flag to indicate if the node should be inserted into the round-robin scheduler.
7. orientation_covariance - Array of orientation covariances inserted into each IMU message.
8. angular_covariance - Array of angular covariances inserted into each IMU message.
9. linear_covariance - Array of linear covariances inserted into each IMU message.
10. address - The file to open for reading the IMU.
11. tov_address - File to open for reading the time-of-validity signal. This uses the serial library to perform the reading.
12. baudrate - Baud rate at which to read the IMU. NOTE: This must match the setting on the IMU, or else communication cannot be established.
13. max_temp - temperature at which to stop reading the IMU, as a safety feature.

Time of Validity

In order to receive time-of-validity, this package requires that a serial message is sent on the tov_address file descriptor. The contents of the message is irrelevant - an empty message is preferred for accuracy and reducing system latency.

Contributing

1. Fork this repository, make suggested changes.
2. If the change is minor (e.g. can be read and understood in a short period of time, does not require much discussion) issue a pull request.
3. If the change is more significant or requires discussion, open an issue explaining the issue and current thoughts. Open a pull request demonstrating a proposed solution, if one exists.
4. Pull requests should be reviewed by a maintainer, and handled as appropriate.