SLIMKIT ROS package

ROS node and test application for slamkit

Dependency

This project need the following dependency:

1. libusb-1.0-0-dev sudo apt-get install libusb-1.0-0-dev
2. imu-tools sudo apt-get install ros-<dist>-imu-tools <dist> is the distrbution, such as "noetic" or "melodic", and not include "<>"

How to build slamkit ros package

1. make sure your system have installed ROS If you don't familar with ROS, please visit https://wiki.ros.org firstly, and follow the "Getting Started" and "Tutorials".

2. Clone or copy this project to your catkin's workspace src folder . If not catkin's workspace or src folder, please create them first, such as the following shell command.

   mkdir slamkit_ws
   cd slamkit_ws
   mkdir src
   cd src
   git clone <slamkit_ros repo>
   cd <slamkit_ros>
   git submodule update --init

3. Go to the catkin's workspace and running catkin_make to build slamkitNode and slamkitNodeClient

   cd slamkit_ws
   catkin_make
   source devel/setup.bash

How to run slamkit ros package

1. Please plug in the SLAMKIT device, and use lsusb cmd to check the device is detected

   yuan@yuan ~/works/slamkit_ros_ws $ lsusb
   // other usb device
   
   //slamkit device
   Bus 003 Device 011: ID fccf:f100 SLAMTEC SLAMWARELC
   

2. Run the shell script to add udev rule, the script is in the scripts/ folder

      cd scripts
      ./add_udev.sh

I. Run slamkit node only

//only run slamkitNode
roslaunch slamkit_ros slamkit_usb.launch

The slamkitNode will publis 3 topics:

yuan@yuan ~ $ rostopic list
/imu/data_raw
/imu/mag
/imu/processed_yaw
/rosout
/rosout_agg

topic:

• imu/data_raw (sensor_msgs/Imu) Message containing raw IMU data, including angular velocities and linear accelerations. acc raw data in m/s^2, and gyro in rad/s.

• imu/mag (sensor_msgs/MagneticField) Magnetic data in Tesla.

• imu/processed_yaw (geometry_msgs::Vector3Stamped) Yaw data which processed in slamkit hardware device, in degree.

II. Run slamkit node and imu filter node

roslaunch slamkit_ros slamkit_usb_imu_filter.launch

The complementary_filter_node in imu tools will start at the same time, and the topics are:

• imu/data (sensor_msgs/Imu) The fused Imu message, containing the orientation.
• imu/rpy/filtered (geometry_msgs/Vector3) Debug only: The roll, pitch and yaw angles corresponding to the orientation published on the imu_data topic. (only published when publish_debug_topics == true)
• imu/steady_state (std_msgs/Bool) Debug only: Whether we are in the steady state when doing bias estimation. (only published when ~publish_debug_topics == true)

III. View in Rviz

roslaunch slamkit_ros test_slamkit.launch

The test_slamkit.launch will start the following nodes:

    complementary_filter_node (imu_complementary_filter/complementary_filter_node)
    rviz (rviz/rviz)
    slamkitNode (slamkit_ros/slamkitNode)
    slamkitNodeClient (slamkit_ros/slamkitNodeClient)

The rviz will use /imu/data which published from complementary_filter_node and display int window.

If want to view the roll/pich/yaw data, start another teminal and echo the following topic:

• view imu msg (sensor_msgs/Imu) from complementary_filter_node

yuan@yuan ~/works/slamkit_ros_ws $ rostopic echo /imu/data
header: 
  seq: 67355
  stamp: 
    secs: 1712893929
    nsecs: 799465854
  frame_id: "imu"
orientation: 
  x: 0.3294100186970593
  y: -0.01334335189830093
  z: 0.1402511003896779
  w: -0.9336169575268038
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity: 
  x: -0.004261057671440972
  y: 0.02769687486436632
  z: -0.008522115342881944
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration: 
  x: 0.74708251953125
  y: -5.19010009765625
  z: 6.66392822265625
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---

• view roll/pich/yaw in rad

yuan@yuan ~ $ rostopic echo /imu/rpy/filtered 
header: 
  seq: 116510
  stamp: 
    secs: 1712653629
    nsecs: 982544281
  frame_id: "imu"
vector: 
  x: -0.5118724746572548
  y: -0.851032829630307
  z: 0.24633383804987355
---

• view roll/pich/yaw in degree

yuan@yuan ~ $ rostopic echo /imu/angles_degree 
header: 
  seq: 134377
  stamp: 
    secs: 1712653708
    nsecs: 150230549
  frame_id: "angle_degree"
vector: 
  x: -29.359611349189777
  y: -48.705977758347366
  z: 14.224317662550938
---

III. View slamkit processed yaw (in degree)

yuan@yuan ~ $ rostopic echo /imu/processed_yaw 
header: 
  seq: 8217
  stamp: 
    secs: 1712893652
    nsecs: 718455979
  frame_id: "imu_processed"
vector: 
  x: 0.0
  y: 0.0
  z: 1.6558480277118701
---