Phidget Inertial Measurement Unit
=================================

Phidgets Start-up
-----------------

.. figure:: media/figures/phidgets_imu.jpg
    :scale: 50%
    :align: center
    :class: mbsrounded

    Phidgets IMU

When the robot starts, the Phidget's IMU starts via a startup script. 
To check the status of this module, the following steps are to be performed:

1. Connecting to the robot via Ethernet as  described:
  
.. code:: bash

       ssh -X administrator@192.168.131.1
       clearpath

2. Next, we can check the status of the Phidget's IMU via:

.. code:: bash

       sudo service mbs_husky status

.. important::
       If the icon is green, it means that the packages has started without any issues. 
       In the event of an error, you may restart this startup job via:

.. code:: bash

       sudo service mbs_husky restart
       
3. To check the linear accelerations and angular velocities:

.. code:: bash

       rostopic echo /IMU/data_raw

.. attention:: 

       This topic does not include orientations. For more information on orientation
       please refer to the :roswiki:`phidgets_imu` .

4. To check magnetic orientation:

.. code:: bash

       rostopic echo /IMU/mag

5. More information is available on :roswiki:`phidgets_imu` .

       * To check the orientation on rviz, be sure to use use the IMU visualization plugin.

.. code:: bash

       roslaunch mbs_husky_description description.launch


6. Calibration must be done as instructed in the wiki according to the location.
    The Phidgets is connected to the ``/dev/ttyUSB1`` port.