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Trooper Plugin

This repository contains a ROS plugin for the KVH1750 node, which accumulates individual IMU messages into the RawCachedIMUData available as part of the pronto package, and required for getting that package to work on robots which have a KVH 1750, but are not an ATLAS.

Installation

  1. Make sure trooper_mlc_msgs is part of the installed/built ROS packages for dependency resolution. One method of doing this is cloning pronto, then symlinking the trooper_mlc_msgs package from pronto-lcm-ros-translators/src/trooper_mlc_msgs into the catkin workspace.
  2. Clone this repository into the src directory of a catkin workspace.
  3. Execute catkin_make install in the catkin root directory (e.g. ~/catkin_ws, not ~/catkin_ws/src)
  4. The plugin is correctly installed ROS if the command rospack plugins --attrib=plugin kvh1750_trooper_plugin returns text listing the location of the plugin.

Usage

When launching the ros_kvh1750 node, it will load the plugin defined in the node's private namespace under processor_type (e.g. /ros_kvh1750/processor_type). Setting that value to kvh1750_trooper_plugin will load the plugin for operation.