hipnuc_imu_ros

Description

A ROS wrapper for HiPNUC HI216 IMU Device.

The HiPNUC HI216 is a 6 DoF (Degree of Freedom) IMU device which consists of 2 sensors: gyro and acceleration sensor. More information about this sensor can be found in the official HiPNUC website: http://www.hipnuc.com.

Install Linux Driver for HiPNUC HI216

1. Install dependencies:

$ sudo apt install libelf-dev

2. Download code and compile linux driver:

$ cd ~/catkin_ws/src
$ git clone https://github.com/teddyluo/hipnuc_imu_ros.git
$ cd ~/catkin_ws/src/hipnuc_imu_ros/driver
$ make all

where catkin_ws is your catkin workspace.

3. Copy cp210x.ko to the kernel folder:

sudo cp ./cp210x.ko /lib/modules/$(uname -r)/kernel/drivers/serial
sudo insmod /lib/modules/$(uname -r)/kernel/drivers/usb/serial/usbserial.ko
sudo insmod ./cp210x.ko

4. (Optional) Clean the redundant files:

make clean

5. (Optional) Test IMU device:

$ cd ~/catkin_ws/src/hipnuc_imu_ros/driver-test
$ gcc ./imu_data_decode.c ./packet.c ./serial.c -o ./imu-test

Connect HI216 device via a USB cable, then verify the output:

./imu-test

Configure ROS Package

1. Compile ROS package:

$ cd ~/catkin_ws
$ catkin_make -DCATKIN_WHITELIST_PACKAGES="hipnuc_imu_ros" -j1

2. Connect HI216 device via a USB cable, then test the device according to the following commands :

#The 1st terminal:
$ roscore
#The 2nd terminal:
$ roslaunch hipnuc_imu_ros imu.launch

Now you should see the received IMU data in the terminal. Enjoy!

Note:

1. If the permission problem is encountered, please run the following command:

$ sudo chmod 666 /dev/ttyUSB0