sbg-systems/sbg_ros2_driver

ROS 2 driver for SBG Systems IMU/AHRS/INS units such as ELLIPSE or QUANTA.

sbg_ros2_driver's Issues

SetDatum service

Hello,

this is a feature suggestion related to the use of the /imu/odometry output topic that is currently offered by the driver. It would be of great benefit for us if the driver would have a SetDatum service implemented similar to navsat_transform_node in the robot_localization package (http://docs.ros.org/en/noetic/api/robot_localization/html/integrating_gps.html?highlight=set_datum#required-inputs).

A call to this service should allow to set the datum (global frame origin).

In the current version (3.1.0), this is set to the first valid INS position.

ros-galactic-sbg-driver missing from upstream repositories

In the README it is mentioned that ros-galactic-sbg-driver is available in the upstream ROS2 repositories. However, while I am able to find ros-foxy-sbg-driver in the http://packages.ros.org/ros2/ubuntu repository, the Galactic version seems to be missing.

Is there a different upstream repository that offers this pre-built binary package for Ubuntu Focal? Is it on the planning to add it to the above one?

Thank you for your information. For now, I will resort to a build from source.

cant launch mag calibration

Hi,

I am unable to launch the mag calibration.
This is the reply from ros

[INFO] [launch]: All log files can be found below /home/nav2/.ros/log/2022-06-10-16-24-14-394591-nav2-desktop-569205
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [sbg_device_mag-1]: process started with pid [569211]
[ERROR] [sbg_device_mag-1]: process has died [pid 569211, exit code -11, cmd '/home/nav2/nav2_ws/install/sbg_driver/lib/sbg_driver/sbg_device_mag --ros-args --params-file /home/nav2/nav2_ws/install/sbg_driver/share/sbg_driver/config/example/ellipse_E_default.yaml'].

Truly appreciate any help thanks.

Create Humble or Iron Release

Would it be possible to get a release on rosdep so building from source is not needed on newer ROS distros?

Latest changes on master in develop

Hello,

could you please merge the latest fixes on master to the develop branch?

Thanks in advance,

Christoph

Ellipse2 N sensor setup issue

SBG-Systems/sbg_ros_driver#41 (comment)

time_reference configuration parameter is not applied

The output.time_reference parameter have no effect regardless of the value in the configuration file.

It looks like copy-pase error during migration from ROS to ROS2 parameters syntax.

actual code:

sbg_ros2_driver/src/config_store.cpp

Line 390 in f6c476a

loadOutputTimeReference(ref_node_handle, "output/time_reference");

ros1 code:
https://github.com/SBG-Systems/sbg_ros_driver/blob/4684439988aa1268093a99efb3bfdae0caeba11b/src/config_store.cpp#L390

The backslash symbol must be replaced with a dot.

Possibility to migrate to colcon build?

Hello, I have been trying to build the ROS 2 node with no success so far. What I found very strange is that the build system is relying on catkin instead of new tools from ROS 2.

I must install the catkin package from the official ubuntu repo, but of course, is failing, and it has conflicting dependencies with he ros:humble one.

I'm working on a docker environment so hacking everything manually and running a bunch of command is not an option for me :)

The error is

 python3-catkin-pkg : Conflicts: catkin but 0.8.10-7 is to be installed

Edit

For those struggling with the same issue, this is a very ugly hack that fixes the problem until sbg provides a better solution. Nevertheless the sbg build still fails

RUN apt-get update
RUN apt download python3-catkin-pkg-modules \
    && dpkg-deb -R python3-catkin-pkg-modules*.deb python3-catkin-pkg-modules/ \
    && sed -i \
      -e '/^Version:/s/$/~hacked/' \
      -e '/^Conflicts: catkin/d' \
      python3-catkin-pkg-modules/DEBIAN/control \
    && dpkg-deb -b python3-catkin-pkg-modules python3-catkin-pkg-modules.deb \
    && dpkg -i python3-catkin-pkg-modules.deb \
    && rm -rf *.deb python3-catkin-pkg-modules/

RUN apt download python3-catkin-pkg \
    && dpkg-deb -R python3-catkin-pkg*.deb python3-catkin-pkg/ \
    && sed -i \
      -e '/^Version:/s/$/~hacked/' \
      -e '/^Conflicts: catkin/d' \
      python3-catkin-pkg/DEBIAN/control \
    && dpkg-deb -b python3-catkin-pkg python3-catkin-pkg.deb \
    && dpkg -i python3-catkin-pkg.deb \
    && rm -rf *.deb python3-catkin-pkg/

RUN apt install catkin -y
RUN rm -rf /var/lib/apt/lists/*

Cannot change ros2 topic frequency

Hi.

I run ros2 launch sbg_driver sbg_device_launch.py and want to get topic like /sbg/imu_data, /imu/data.

First of all, the strange thing I'm experiencing is that the above topic comes in at 10Hz and not 25Hz.
After, I changed log_imu_data in sbg_device_uart_default.yaml by incrementing and decrementing it, but topic frequency don't change. It seems that the frequency is output regardless of the parameter.
I also changed baudRate from 115200 to 921600, but the problem hasn't been resolved.

What was the problem?

PS: I am connecting via USB and receiving data through ttyUSB0 port. Could this be a problem?

Enhancement with ros2 control support

HI,
I was wandering if this driver can be used or derivative for ros2 control with imu_sensor_broadcaster
Would it be better for a better performance and behavior ?

Imu/odometry orientation wrong using sbg/quat output on ENU

Hi,
During tests, I notice an issue with the orientation of the output odometry when you define the parameters log_ekf_quat

I end up using only log_ekf_euler for the good orientation, using the other set an offset of 90°.

Is it an issue with the direct use of the sbg_quat message in ENU convention ?

Regards