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ROS Environment

SBG_driver

ROS driver package for communication with the SBG navigation systems. Github link

  • Command 
    roslaunch sbg_driver sbg_device.launch
  • Driver Output
    Topic Description
    /imu/data IMU data
    /imu/temp IMU temperature
    /imu/velocity IMU velocity data
    /imu/mag IMU magnetic field
    /imu/pres IMU pressure data
    /imu/pos_ecef Earth-Centered Earth_Fixed position
    /imu/utc_ref UTC time reference
    /imu/nav_sat_fix Navigation satellite
    /sbg/ekf_euler SbgEkfEuler
    /sbg/ekf_nav SbgEkfNav
    /sbg/ekf_quat SbgEkfQuat
    /sbg/gps_pos SbgGpsPos
    /sbg/gps_vel SbgGpsVel
    /sbg/imu_data SbgImuData
    /sbg/imu_short SbgImuShort
    /sbg/mag SbgMag
    /sbg/mag_calib SbgMagCalib
    /sbg/odo_vel SbgOdoVel
    /sbg/ship_motion SbgShipMotion
    /sbg/utc_time SbgUtcTime

MAVROS

MAVLink extendable communication node for ROS with proxy for Ground Control Station. Github link

  • Command 
    roslaunch mavros apm2.launch fcu_url:="udp://:14550@:14550"

udp com

It provides ROS Services for creating sockets, sending and receiving UDP data. Github link

  • Command 
    roslaunch udp_com udp_com.launch
rosservice call /eth1/udp/create_socket "srcAddress: '0.0.0.0'
destAddress: '0.0.0.0'
port: 1600
isMulticast: false"

ROS bag files containing sensor data