IRI TCM3 Compass

Description:

• Driver for TCM3 Compass.

Functionalities:

• Connection via serial port (or USB-serial)
• Configure the device via parameter server or dynamic reconfigure gui
• It uses an own-type message "compass3axis.msg" composed by header, angles[3], covariances[9] and alarms[3]

More information:

• IRI's wiki page
• IRI's wiki driver page
• Low level driver documentation

iri_tcm3_compass: iri_tcm3_compass

iri_tcm3_compass

• Homepage: http://ros.org/wiki/iri_tcm3_compass

howto

run

Call this node from rosrun:

rosrun iri_tcm3_compass iri_tcm3_compass frame_id:=/robot/tcm3

Call this node from launch:

<launch>
  <node pkg="iri_tcm3_compass"
        type="iri_tcm3_compass"
        name="tcm3"
        output="screen">
    <param name="frame_id"          value="/robot/tcm3" />
    <param name="mounting_position" value="6"           />
    <param name="relative"          value="True"        /> <!-- for Yaw use relative Data -->
    <param name="frequency"         value="10"          />
  </node>
</launch>

Mounting Positions

• STD, 1, Standard
• Xup, 2, X axis up
• Yup, 3, Y axis up
• m90h, 4, minus 90 heading offset
• m180h, 5, minus 180 heading offset
• m270h, 6, minus 270 heading offset
• Zdown, 7, Z down
• X90, 8, X + 90
• X180, 9, X + 180
• X270, 10, X + 270
• Y90, 11, Y + 90
• Y180, 12, Y + 180
• Y270, 13, Y + 270
• Zdown90, 14, Z down + 90
• Zdown180, 15, Z down + 180
• Zdown270, 16, Z down + 270