AMRL Modifications

Add a udev rule for your vectornav device.

1. Use the following command to view your device attributes

udevadm info -a -p  $(udevadm info -q path -n /dev/ttyUSB0) | grep -i Serial

2. Create a udev rule in /etc/udev/rules.d and a file called 40-vectornav.rules. Add the line below to your file. You will need to replace the SUBSYSTEM, SUBSYSTEMS, and DRIVERS values to match your device. Do not set identify your device by the KERNEL as that will change depending on the usb port that your device is plugged into. Identifying your device by other identifiers or attributes is more reliable.

SUBSYSTEM=="tty",SUBSYSTEMS=="usb",DRIVERS=="ftdi_sio",SYMLINK+="vectornav"

3. Reload the udev rules

sudo udevadm control --reload-rules
sudo udevadm trigger

4. Unplug and replug your vectornav and check that your device is now available in /dev/vectornav
5. Modify the serial_port key in the params/vn300.yaml and set it to serial_port: /dev/vectornav

Vectornav ROS Driver

A ROS node for VectorNav INS & GPS devices.

This package provides a sensor_msg interface for the VN100, 200, & 300 devices. Simply configure your launch files to point to the serial port of the deice and you can use rostopic to quickly get running.

Check out the ROS2 branch for ROS2 Support!

QuickStart Guide

This assumes that you have a VectorNav device connected to your computer via a USB cable and that you have already created a [catkin workspace][2]

Build:

$ cd ~/catkin_ws/src
$ git clone https://github.com/dawonn/vectornav.git
$ cd ..
$ catkin_make

Run:

(Terminal 1) $ roscore
(Terminal 2) $ roslaunch vectornav vectornav.launch
(Terminal 3) $ rostopic list
(Terminal 3) $ rostopic echo /vectornav/IMU
(Terminal #) $ ctrl+c to quit

Overview

vnpub node

This node provides a ROS interface for a vectornav device. It can be configured via ROS parameters and publishes sensor data via ROS topics.

vectornav.launch

This launch file contains the default parameters for connecting a device to ROS. You will problaby want to copy it into your own project and modify as required.

References

[1]: http://www.vectornav.com/ "VectorNav"
[2]: http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment "ROS Workspace Tutorial"

The MIT License (MIT)

Copyright (c) 2018 Dereck Wonnacott <[email protected]>

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