SMB IMU interface

SMB IMU interface is a stripped down version of VersaVIS that allows receiving data from an IMU and publishing the sensor data in ROS. Currently, only the ADIS16448 (both AMLZ and BMLZ versions) is supported. Data is published using a slightly modified version of rosserial.

Install

Clone and build

cd ~/catkin_ws/src/
git clone [email protected]:ETHZ-RobotX/smb_imu_interface.git --recursive
catkin build versavis_adis16448_receiver
cd smb_imu_interface/firmware
./setup.sh

Setup udev rule

Add yourself to dialout group

sudo adduser <username> dialout

Copy udev rule file to your system:

sudo cp firmware/98-versa-vis.rules /etc/udev/rules.d/98-versa-vis.rules

Afterwards, use the following commands to reload the rules

sudo udevadm control --reload-rules
sudo udevadm trigger
sudo ldconfig

Note: You might have to reboot your computer for this to take effect. You can check by see whether a /dev/versavis is available and pointing to the correct device.

Configure

Adapt the configuration file to your setup needs.

Flash firmware on the VersaVIS board

• Install the arduino IDE from here. Use version 1.8.2!
  • Note that a small modification of the install script (install.sh) might be required. In particular you may need to change the line RESOURCE_NAME=cc.arduino.arduinoide to RESOURCE_NAME=arduino-arduinoide as per the issue here.
• Open firmware/versavis/versavis.ino in the IDE
• Go to File -> Preferences
• Change Sketchbook location to versavis/firmware/
• Install board support:
  • For VersaVIS 1.0 (the black one): Check here
• Set Tools -> Port -> tty/ACM0 (Arduino Zero), and Tools -> Board -> VersaVIS.
• Compile using the Verify menu option
• Flash using the Upload menu option

Usage

• Adapt versavis_adis16448_receiver/launch/run_versavis_adis16448.launch to your needs.
• Run with

roslaunch versavis_adis16448_receiver run_versavis_adis16448.launch

• Wait for successfull initialization.