clearpath_config.sensors.types.imu module
- class clearpath_config.sensors.types.imu.BaseIMU(idx: int = None, name: str = None, topic: str = 'imu', frame_id: str = 'link', port: str = '/dev/clearpath/imu', use_enu: bool = True, update_rate: int = 20, imu_filter: IMUFilter = {'type': 'none'}, 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'
- IMU_FILTER = 'filter'
- IMU_FILTER_DEFAULT = {'type': 'none'}
- PORT = '/dev/clearpath/imu'
- SENSOR_MODEL = 'base'
- SENSOR_TYPE = 'imu'
- TOPIC = 'imu'
- class TOPICS
Bases:
object
- DATA = 'data'
- MAG = 'mag'
- NAME = {'data': 'data', 'mag': 'mag'}
- TYPE = {'data': 'sensor_msgs/msg/Imu', 'mag': 'sensor_msgs/msg/MagneticField'}
- UPDATE_RATE = 20
- USE_ENU = True
- property frame_id: str
- from_dict(d: dict) None
- classmethod get_frame_id_from_idx(idx: int) str
- property port: str
- set_idx(idx: int) None
- to_dict() dict
- property update_rate: int
- property use_enu: bool
- class clearpath_config.sensors.types.imu.CHRoboticsUM6(idx: int = None, name: str = None, topic: str = 'imu', frame_id: str = 'link', port: str = '/dev/clearpath/imu', use_enu: bool = True, update_rate: int = 20, imu_filter: str = {'type': 'none'}, 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_PARAMETER_KEYS
Bases:
object
- FRAME_ID = 'um6_driver.frame_id'
- PORT = 'um6_driver.port'
- UPDATE_RATE = 'um6_driver.update_rate'
- USE_ENU = 'um6_driver.tf_ned_to_enu'
- SENSOR_MODEL = 'chrobotics_um6'
- UPDATE_RATE = 20
- USE_ENU = True
- class clearpath_config.sensors.types.imu.IMUFilter(config: dict)
Bases:
object
- class Base(config: dict)
Bases:
object
- INPUT_MAG = 'input_mag'
- INPUT_MAG_DEFAULT = 'mag'
- INPUT_RAW = 'input_raw'
- INPUT_RAW_DEFAULT = 'data_raw'
- OUTPUT = 'output'
- OUTPUT_DEFAULT = 'data'
- TYPE = 'base'
- from_dict(config: dict) None
- property input_mag: str
- property input_raw: str
- property output: str
- to_dict() dict
- TYPE = 'type'
- TYPES = {'madgwick': <class 'clearpath_config.sensors.types.imu.IMUFilter.Madgwick'>, 'none': <class 'clearpath_config.sensors.types.imu.IMUFilter.NoFilter'>}
- class clearpath_config.sensors.types.imu.Microstrain(idx: int = None, name: str = None, topic: str = 'imu', frame_id: str = 'link', port: str = '/dev/microstrain_main', use_enu: bool = True, imu_rate: int = 100, mag_rate: int = 0, imu_filter: str = {'type': 'none'}, 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'
- IMU_RATE = 100
- MAG_RATE = 0
- PORT = '/dev/microstrain_main'
- class ROS_PARAMETER_KEYS
Bases:
object
- FRAME_ID = 'microstrain_inertial_driver.frame_id'
- IMU_RATE = 'microstrain_inertial_driver.imu_data_rate'
- MAG_RATE = 'microstrain_inertial_driver.imu_mag_data_rate'
- PORT = 'microstrain_inertial_driver.port'
- USE_ENU = 'microstrain_inertial_driver.use_enu_frame'
- SENSOR_MODEL = 'microstrain_imu'
- USE_ENU = True
- property imu_rate: int
- property mag_rate: int
- class clearpath_config.sensors.types.imu.PhidgetsSpatial(idx: int = None, name: str = None, topic: str = 'imu', frame_id: str = 'link', port: str = None, use_enu: bool = True, data_interval: int = 20, imu_filter: str = {'type': 'madgwick'}, use_mag: 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
- DATA_INTERVAL = 20
- FRAME_ID = 'link'
- IMU_FILTER_DEFAULT = {'type': 'madgwick'}
- PORT = None
- class ROS_PARAMETER_KEYS
Bases:
object
- DATA_INTERVAL = 'phidgets_spatial.data_interval_ms'
- FRAME_ID = 'phidgets_spatial.frame_id'
- USE_MAG = 'imu_filter_madgwick.use_mag'
- SENSOR_MODEL = 'phidgets_spatial'
- class TOPICS
Bases:
object
- CALIB = 'calibrated'
- DATA = 'data'
- MAG = 'mag'
- NAME = {'calibrated': 'is_calibrated', 'data': 'data', 'mag': 'mag', 'raw': 'data_raw'}
- RAW_DATA = 'raw'
- TYPE = {'calibrated': 'std_msgs/msg/Bool', 'data': 'sensor_msgs/msg/Imu', 'mag': 'sensor_msgs/msg/MagneticField', 'raw': 'sensor_msgs/msg/Imu'}
- USE_ENU = True
- USE_MAG = True
- property data_interval: int
- property use_mag: bool
- class clearpath_config.sensors.types.imu.RedshiftUM7(idx: int = None, name: str = None, topic: str = 'imu', frame_id: str = 'link', port: str = '/dev/clearpath/um7', use_enu: bool = True, update_rate: int = 20, imu_filter: str = {'type': 'none'}, 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_PARAMETER_KEYS
Bases:
object
- FRAME_ID = 'um7_driver.frame_id'
- PORT = 'um7_driver.port'
- UPDATE_RATE = 'um7_driver.update_rate'
- USE_ENU = 'um7_driver.tf_ned_to_enu'
- SENSOR_MODEL = 'redshift_um7'
- UPDATE_RATE = 20
- USE_ENU = True