Reckless Ted's Funland Sensors (RTF_Sensors)

Here are some ROS2 drivers to publish Adafruit senor information:

• Acceleration and Gyroscope
  • lsm6dsox
  • lsm6ds33
• Magnetometer
  • lis3mdl
• Pressure and Temperature
  • dps310
  • lps22
• Infrared Camera
  • mlx90640
• Light
  • bh1750

Setup

WARNING: Don't use a virtualenv, ROS doesn't play nicely with those

1. pip install -U pip setuptools wheel
2. pip install Adafruit-Blinka
3. pip install adafruit-circuitpython-lsm6ds (or any adafruit sensors you want)
4. pip install squaternion

Make sure the sensors are on the I2C bus:

$ sudo apt install i2c-tools
$ dotfiles $ sudo i2cdetect -y 1
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:                         -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- 1c -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- 6a -- -- -- -- --
70: -- -- -- -- -- -- -- 77  

To Build

git clone https://github.com/RecklessTedsFunland/rtf_sensors.git

source /opt/ros/humble/setup.zsh

colcon build --symlink-install --packages-select rtf_sensors

source install/setup.bash

Execute

ros2 run rtf_sensors lsm6sox_node

Configuration Files

General layout for the yaml file, but different sensors have different layouts:

lsm6sox:
  accel:
    data:
    - 0.10124958887273922
    - 2.419810569214096e-05
    - -0.0007916959137182327
    - -0.0008555830320481476
    - 0.10181139633682373
    - 0.001510699098028933
    - 0.0003137800905107515
    - -0.0015629026939724747
    - 0.10216486651751974
    - 0.004015925094103206
    - 0.008329605644502025
    - -0.024763812324729968
    dtype: float64
    shape:
    - 4
    - 3
  gyro:
    data:
    - 1.0
    - 0.0
    - 0.0
    - 0.0
    - 1.0
    - 0.0
    - 0.0
    - 0.0
    - 1.0
    - 0.0001524393485238419
    - -0.024156762226978153
    - -0.010172667688119676
    dtype: float64
    shape:
    - 4
    - 3
  timestamp: 2020-08-30 12:32:45.540809

To Do

• Pass parameters via yaml file
• Examples for sensors
• Calibration Jupyter notebooks for:
  • Accelerometer
  • Gyroscope
  • Magnetometer
  • Temperature?
  • Pressure?

References

• Conventions for IMU Sensor Drivers: REP-0145

MIT License

Copyright (c) 2020 Reckless Ted's Funland

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.