mw_ahrs_ros2

Overview

ROS2 driver package for MW-AHRSv1 and MW-AHRSv2U

ROS Interface

Topic Name	Type	Description
imu/data	sensor_msgs/Imu	IMU data
imu/rpy	geometry_msgs/Vector3Stamped	roll, pitch, yaw data
imu/mag	sensor_msgs/MagneticField	magnetic field data

Service Name	Type	Description
imu/reset	std_srvs/Trigger	Reset the sensor

Installation

cd ~/colcon_ws/src/
git clone https://github.com/roasinc/mw_ahrs_ros2.git

cd ~/catkn_ws/
rosdep install --from-paths src --ignore-src -y
ccolcon build --symlink-install

Usage

sudo cp rules/99-mwahrs.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules
sudo udevadm trigger

ros2 launch mw_ahrs_ros2 mw_ahrs_launch.py