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'
class ROS_PARAMETER_KEYS

Bases: object

FRAME_ID = 'node_name.frame_id'
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 imu_filter: IMUFilter
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
class Madgwick(config: dict)

Bases: Base

TYPE = 'madgwick'
class NoFilter(config: dict)

Bases: Base

TYPE = 'none'
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