imu_core

Realtime and non realtime connection to IMUs. This package currently support 2 imus:

• imu 3DM_GX3_45 from Lord Sensing System.
• imu 3DM_GX3_45 from Lord Sensing System.

Installation

Standard dependencies

You need:

• mpi_cmake_modules
• real_time_tools
• Eigen3
• Boost (filesystem system thread)
• pybind11

The best way to install the dependencies mpi_cmake_modules and real_time_tools is to use a ROS2 workspace. Hence cloning everything in a workspace/src/ folder and use colcon to build the packages (see below).

For Eigen3 and Boost, they are both available as standard dependencies on Mac-Os (brew) and Linux/Ubuntu (apt).

Download the package

In order to compile this package you will need to also compile mpi_cmake_modules and real_time_tools as they do not have binary releases. In order to do so please clone all sources in a ROS2 workspace folder either using git clone or treep:

1. use treep with the treep_machines_in_motion configuration.

   mkdir -p ~/devel
   pip3 install treep
   cd ~/devel
   git clone git@github.com:machines-in-motion/treep_machines_in_motion.git
   treep --clone IMU_CORE
   

2. use git clone

   mkdir -p ~/devel/workspace/src
   cd ~/devel/workspace/src
   git clone git@github.com:machines-in-motion/mpi_cmake_modules.git
   git clone git@github.com:machines-in-motion/real_time_tools.git
   git clone git@github.com:machines-in-motion/imu_core.git
   

Build the package

After downloading all sources you can compile the package using colcon

cd ~/devel/workspace
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

Usage

This assume that your devel folder is located in your home directory ~.

Demos

To run the demo plug a valid imu and run:

source ~/devel/workspace/install/setup.bash
demo_imu_3DM_GX3_45

or

source ~/devel/workspace/install/setup.bash
demo_imu_3DM_GX3_45

Python Demo

Currently, only the GX3 has a Python demo.

source ~/devel/workspace/install/setup.bash
cd ~/devel/workspace/src/imu_core/pydemo
ipython
>>> run test.py

or

source ~/devel/workspace/install/setup.bash
cd ~/devel/workspace/src/imu_core/pydemo
jupyter notebook nb.ipynb

API documentation

The API documentation is generated on compile time using a specific CMake argument:

cd ~/devel/workspace/src
colcon build --cmake-args -DGENERATE_DOCUMENTATION=ON

License and Copyrights

See the license.txt file in this repository root folder.