Phidget Inertial Measurement Unit

Phidgets Start-up

_images/phidgets_imu.jpg

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:

ssh -X administrator@192.168.131.1
clearpath

  1. Next, we can check the status of the Phidget’s IMU via:

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:

sudo service mbs_husky restart

  1. To check the linear accelerations and angular velocities:

rostopic echo /IMU/data_raw

Attention

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

  1. To check magnetic orientation:

rostopic echo /IMU/mag

  1. More information is available on roswiki phidgets_imu .

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

roslaunch mbs_husky_description description.launch
  1. Calibration must be done as instructed in the wiki according to the location.

    The Phidgets is connected to the /dev/ttyUSB1 port.