clearpath_config.sensors.types.imu module

class clearpath_config.sensors.types.imu.BaseIMU(idx: int | None = None, name: str | None = None, topic: str = 'imu', frame_id: str = 'link', port: str = '/dev/clearpath/imu', use_enu: bool = True, urdf_enabled: bool = True, launch_enabled: bool = True, ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseSensor

FRAME_ID = 'link'

PORT = '/dev/clearpath/imu'

class ROS_PARAMETERS_KEYS

Bases: object

FRAME_ID = 'node_name.frame_id'

PORT = 'node_name.port'

USE_ENU = 'node_name.use_enu'

SENSOR_MODEL = 'base'

SENSOR_TYPE = 'imu'

TOPIC = 'imu'

class TOPICS

Bases: object

DATA = 'data'

MAG = 'mag'

NAME = {'data': 'data', 'mag': 'mag', 'raw': 'data_raw'}

RATE = {'data': 60, 'mag': 60, 'raw': 60}

RAW_DATA = 'raw'

USE_ENU = True

property frame_id: str

get_frame_id() → str

classmethod get_frame_id_from_idx(idx: int) → str

get_port() → str

get_use_enu() → bool

property port: str

set_frame_id(link: str) → None

set_idx(idx: int) → None

set_port(file: str) → None

set_use_enu(enu: bool) → None

property use_enu: bool

class clearpath_config.sensors.types.imu.CHRoboticsUM6(idx: int | None = None, name: str | None = None, topic: str = 'imu', frame_id: str = 'link', port: str = '/dev/clearpath/imu', use_enu: bool = True, urdf_enabled: bool = True, launch_enabled: bool = True, ros_parameters: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseIMU

FRAME_ID = 'link'

PORT = '/dev/clearpath/imu'

class ROS_PARAMETERS_KEYS

Bases: object

FRAME_ID = 'um6_driver.frame_id'

PORT = 'um6_driver.port'

USE_ENU = 'um6_driver.tf_ned_to_enu'

SENSOR_MODEL = 'chrobotics_um6'

class TOPICS

Bases: object

DATA = 'data'

MAG = 'mag'

NAME = {'data': 'data', 'mag': 'mag', 'raw': 'data_raw'}

RATE = {'data': 60, 'mag': 60, 'raw': 60}

RAW_DATA = 'raw'

USE_ENU = True

class clearpath_config.sensors.types.imu.Microstrain(idx: int | None = None, name: str | None = None, topic: str = 'imu', frame_id: str = 'link', port: str = '/dev/microstrain_main', use_enu: bool = True, urdf_enabled: bool = True, launch_enabled: bool = True, ros_parameters: str = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseIMU

FRAME_ID = 'link'

PORT = '/dev/microstrain_main'

class ROS_PARAMETERS_KEYS

Bases: object

FRAME_ID = 'microstrain_inertial_driver.frame_id'

PORT = 'microstrain_inertial_driver.port'

USE_ENU = 'microstrain_inertial_driver.use_enu_frame'

SENSOR_MODEL = 'microstrain_imu'

class TOPICS

Bases: object

DATA = 'data'

MAG = 'mag'

NAME = {'data': 'data', 'mag': 'mag', 'raw': 'data_raw'}

RATE = {'data': 60, 'mag': 60, 'raw': 60}

RAW_DATA = 'raw'

USE_ENU = True

class clearpath_config.sensors.types.imu.RedshiftUM7(idx: int | None = None, name: str | None = None, topic: str = 'imu', frame_id: str = 'link', port: str = '/dev/clearpath/um7', use_enu: bool = True, urdf_enabled: bool = True, launch_enabled: bool = True, ros_parameters: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseIMU

FRAME_ID = 'link'

PORT = '/dev/clearpath/um7'

class ROS_PARAMETERS_KEYS

Bases: object

FRAME_ID = 'um7_driver.frame_id'

PORT = 'um7_driver.port'

USE_ENU = 'um7_driver.tf_ned_to_enu'

SENSOR_MODEL = 'redshift_um7'

class TOPICS

Bases: object

DATA = 'data'

MAG = 'mag'

NAME = {'data': 'data', 'mag': 'mag', 'raw': 'data_raw'}

RATE = {'data': 60, 'mag': 60, 'raw': 60}

RAW_DATA = 'raw'

USE_ENU = True