A ROS node for VectorNav INS & GPS devices.
This package provides a sensor_msg interface for the VN100, 200, & 300 devices. Simply configure your launch files to point to the serial port of the deice and you can use rostopic to quickly get running.
Check out the ROS2 branch for ROS2 Support!
This assumes that you have a VectorNav device connected to your computer
via a USB cable and that you have already created a [catkin workspace][2]
Build:
$ cd ~/catkin_ws/src
$ git clone https://github.com/dawonn/vectornav.git
$ cd ..
$ catkin_makeRun:
(Terminal 1) $ roscore
(Terminal 2) $ roslaunch vectornav vectornav.launch
(Terminal 3) $ rostopic list
(Terminal 3) $ rostopic echo /vectornav/IMU
(Terminal #) $ ctrl+c to quitThis node provides a ROS interface for a vectornav device. It can be configured via ROS parameters and publishes sensor data via ROS topics.
This launch file contains the default parameters for connecting a device to ROS. You will problaby want to copy it into your own project and modify as required.
[1]: http://www.vectornav.com/ "VectorNav"
[2]: http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment "ROS Workspace Tutorial"
Copyright (c) 2018 Dereck Wonnacott <[email protected]>
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