Vectornav ROS2 Driver

A ROS2 node for VectorNav INS / GNSS devices.

This package that provides both raw and sensor_msg interfaces for the VN100, 200, & 300 devices. It has been entirely redesigned from the ROS1 package to provide a good basis to build into applications without requiring modification of the node itself. The majority of the device configuration settings are exposed as ROS2 parameters that can be modified from a launch file.

QuickStart

Build

1. git clone https://github.com/dawonn/vectornav.git -b ros2
2. cd vectornav
3. colcon build

Run with ros2 run (Option 1)

4. (Terminal 1) ros2 run vectornav vectornav
5. (Terminal 2) ros2 topic echo /vectornav/raw/common
6. (Terminal 3) ros2 run vectornav vn_sensor_msgs
7. (Terminal 4) ros2 topic echo /vectornav/imu

Run with ros2 launch (Option 2, uses parameters from vectornav.yaml)

8. (Terminal 1) ros2 launch vectornav vectornav.launch.py
9. (Terminal 2) ros2 topic echo /vectornav/raw/common
10. (Terminal 3) ros2 topic echo /vectornav/imu

vectornav node

This node provides a ROS2 interface for a vectornav device. It can be configured via ROS parameters and publishes sensor data via custom ROS topics as close to raw as possible.

vn_sensor_msgs node

This node will convert the custom raw data topics into ROS2 sensor_msgs topics to make it easier to integrate with other ROS2 packages.

References

[1] VectorNav