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Version: ROS 2 Jazzy

Inertial Measurement Units

Inertial measurement units are sensors that publish messages of the type sensor_msgs/Imu. These messages contain orientation, angular velocity, and/or linear acceleration depending on the device.

Supported IMUs​

Microstrain IMU​

imu:
  - model: microstrain_imu
    urdf_enabled: true
    launch_enabled: true
    parent: base_link
    xyz: [0.0, 0.0, 0.0]
    rpy: [0.0, 0.0, 0.0]
    ros_parameters:
      microstrain_inertial_driver:
        imu_frame_id: imu_0_link
        port: /dev/microstrain_main
        use_enu_frame: true

Package and Setup​

The MicroStrain GX devices use the microstain_inertial ROS 2 package. The driver is open source, maintained by MicroStrain, and hosted on GitHub.

For more specifics on the way Clearpath's configuration system launches the microstrain_inertial driver, see the MicroStrain GX launch file and the default parameter file in clearpath_sensors.

Device Path​

The port ROS parameter must be set to the device path of the MicroStrain device. The microstrain_inertial package installs its UDEV rule, which will add the /dev/microstrain_main device.

Phidgets IMU​

  imu:
    - model: phidgets_spatial
      urdf_enabled: true
      launch_enabled: true
      parent: base_link
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      ros_parameters:
        phidgets_spatial:
          data_interval_ms: 20

Package and Setup​

The Phidgets devices use the phidgets_spatial ROS 2 package. The driver is open source, maintained by the ROS community, and hosted on GitHub.

For more specifics on the way Clearpath's configuration system launches the phidgets_spatial driver, see the phidgets_spatial launch file and the default parameter file in clearpath_sensors.

CHRobotics UM6​

imu:
  - model: chrobotics_um6
    urdf_enabled: true
    launch_enabled: true
    parent: base_link
    xyz: [0.0, 0.0, 0.0]
    rpy: [0.0, 0.0, 0.0]
    ros_parameters:
      um6_driver:
        port: /dev/clearpath/imu
        frame_id: imu_0_link
        tf_ned_to_enu: true

Package and Setup​

The CHRobotics UM6 IMU uses the umx_driver ROS 2 package. The driver is open source, maintained by the ROS community, and hosted on GitHub.

For more specifics on the way Clearpath's configuration system launches the umx_driver, see the CHRobotics UM6 launch file and the default parameter file in clearpath_sensors.

Device Path​

The port ROS parameter must be set to the device path of the CHRobotics UM6. To simplify this process, use the /dev/clearpath/imu path. This path is only available when the Clearpath robot UDEV rules are installed. These are installed alongside the clearpath_robot package. If the IMU is connected, but the /dev/clearpath/imu device is not, check the file /lib/udev/rules.d/60-ros-jazzy-clearpath-robot.rules exists.

Redshift UM7​

imu:
  - model: redshift_um7
    urdf_enabled: true
    launch_enabled: true
    parent: base_link
    xyz: [0.0, 0.0, 0.0]
    rpy: [0.0, 0.0, 0.0]
    ros_parameters:
      um7_driver:
        port: /dev/clearpath/um7
        frame_id: imu_0_link
        tf_ned_to_enu: true

Package and Setup​

The RedShift UM7 IMU uses the umx_driver ROS 2 package. The driver is open source, maintained by the ROS community, and hosted on GitHub.

For more specifics on the way Clearpath's configuration system launches the umx_driver, see the RedShift UM7 launch file and the default parameter file in clearpath_sensors.

Device Path​

The port ROS parameter must be set to the device path of the RedShift UM7. To simplify this process, use the /dev/clearpath/um7 path. This path is only available when the Clearpath robot UDEV rules are installed. These are installed alongside the clearpath_robot package. If the IMU is connected, but the /dev/clearpath/um7 device is not, check the file /lib/udev/rules.d/60-ros-jazzy-clearpath-robot.rules exists.

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