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Epson IMU ROS1 Driver Node

ess_sensors/g552.jpg ess_sensors/g370.jpg ess_sensors/g365.jpg


Interface Connections

UART Connection & Configuration

SPI Connection & Configuration

SPI Configuration for Timer Delays

SPI Configuration for GPIO Control

ROS1 Node

Orientation Data

Launch File

Timestamping With EXT Signal (Time Correction)

Building & Installing ROS1 Node

  1. Place this package (including folders) into a new folder within your catkin workspace src/ folder.

  2. Modify the CMakeLists.txt to select the desired Epson IMU model that is being used in the ROS system.

    • NOTE: You *MUST* re-build using catkin_make when changing IMU models or making any changes in the CMakeLists.txt

  3. From the catkin workspace folder run catkin_make to build all changed ROS1 packages located in the <catkin_workspace>/src/ folder

  4. Reload the current ROS1 environment variables that may have changed after the catkin build process
    <catkin_workspace>/source devel/setup.bash
  5. Modify the appropriate roslaunch/XML int he launch folder to set your desired IMU init parameters for the specific IMU model that you built using catkin_make

    • Typically, only the dout_rate & filter_sel needs to be edited

Running the ROS1 Node

USB-UART Latency

Modifying *latency_timer* by *udev* mechanism

Modifying *latency_timer* by *sysfs* mechanism

Modifying *low_latency* flag using *setserial* utility

Technical Support

2024-07-13 13:15