ros_sensehat

A ROS package containing a hardware driver for the Raspberry Pi Sense HAT and multiple ROS node wrappers that expose the sensor driver to the ROS ecosystem.

Overview

The Sense HAT is an affordable and easy-to-use add-on board for the Raspberry Pi. It is equipped with a multitude of useful sensors including a 9-DoF IMU and various environmental sensors, which makes it an ideal asset for personal robotic projects. This ROS package provides a ROS-agnostic hardware driver intreface to access the functionalities of the Sense HAT add-on board, and includes a set of ROS nodes that wrap around the driver and connects the sensor data to ROS topics.

Prerequisites

Software

• Ubiquity Robotics Raspberry Pi Image: https://downloads.ubiquityrobotics.com/pi.html
  • Ubuntu 16.04 (Xenial)
  • ROS Kinetic

Hardware

• Raspberry Pi 4 Model B
• Raspberry Pi Sense HAT

Installation

Install from Git Repository

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone --single-branch --branch kinetic-devel https://github.com/joeyjyyang/ros_sensehat.git
cd .. 
sudo apt-get install -y
rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
catkin_make # catkin build ros_sensehat (if using catkin_tools)
source devel/setup.bash
rospack profile

Setup

Calibration

• Sense HAT installation and calibration instructions: https://www.raspberrypi.org/documentation/hardware/sense-hat/

Nodes

• sensehat_imu_publisher_node
  • Publishes orientation (in euler angles and quaternions) data from 9-DoF IMU sensors.
• sensehat_environment_publisher_node
  • Publishes data from environmental sensors, including temperature, relative humidity, pressure, and magnetic field vectors.
• sensehat_compass_display_node
  • Displays current compass direction on LED grid based on heading/yaw readings.

Topics

• /air_pressure
• /magnetic_field
• /imu_orientation_euler
• /imu_orientation_quaternion
• /relative_humidity
• /temperature_celsius

Messages

• sensor_msgs/FluidPressure
• sensor_msgs/MagneticField
• sensor_msgs/Imu
• sensehat_driver/IMUOrientationEuler
• sensor_msgs/RelativeHumidity
• sensor_msgs/Temperature

Usage

Example

• roslaunch ros_sensehat sensehat_imu.launch

Contact

• Author and Maintainer: Joey Yang
• Email: joeyyang.ai@gmail.com
• GitHub: https://github.com/joeyjyyang
• LinkedIn: https://www.linkedin.com/in/joey-yang