wit_node_ros2

This is unofficial ROS2 package for wit motion company imu and gps sensor.

Tested with WitMotion WT901C RS232 and HWT906.

Build

Install dependencies

sudo apt install ros-${ROS_DISTRO}-sophus ros-${ROS_DISTRO}-tf2-geometry-msgs

Build dependencies and wit_node

source /opt/ros/humble/setup.bash
cd ~/ros2_ws/src
git clone https://github.com/stonier/ecl_core -b devel
git clone https://github.com/stonier/ecl_tools -b devel
git clone https://github.com/stonier/ecl_lite -b devel

git clone https://github.com/fateshelled/wit_node_ros2

cd ~/ros2_ws
colcon build --symlink-install

Usage

sudo chmod 666 /dev/ttyUSB0

ros2 launch wit_node wit.launch.py

# launch with rviz2
ros2 launch wit_node wit_visualize.launch.py

About parameter:

name	default	type	about
port	/dev/ttyUSB0	string	device name in Linux system.
baud_rate	115200	int	speed of communication with wit motion device (bps).
frame_id	/imu_link	string	publishing topic frame_id.
publish_hz	10.0	float64	publishing rate (Hz).

Msg

ImuGpsRaw

Header header

float64 time

float64[] acc

float64[] gyro

float64[] rpy

float64[] mag

uint16[] ps #port state

float64 temperature

float64 altitude

float64 ap #atmosphere pressure

float64 latitude

float64 longtitude

float64 gpsh #gps height

float64 gpsy #gps yaw

float64 gpsv #gps velocity

float64[] quarternion

uint8 sn #satelites number

float64[] dop

Published Topics

/imu (sensor_msgs/Imu)

The standard ROS imu sensor msg which include orientation by filtered RPY.

/gps (sensor_msgs/NavSatFix)

The standard ROS gps or navigation satellites msg.

/wit/raw_data (wit_node/ImuGpsRaw)

All raw data provided by the wit device, including nine axises data, atmosphere pressure, temperature, latitude,longitude, altitude, satellites number .etc

/wit/related_yaw (std_msgs/Float64)

The offseted imu yaw data, which means the zero direction is start direction.

/wit/imu_pose (geometry_msgs::msg::PoseStamped)

Pose msg for visualize imu sensor msg with rviz2.

Subscribed Topics

/wit/reset_offset (std_msgs/Empty)

Reset the offset yaw angle to current yaw, so the zero direction is turned to current direction.