watson_ins

This is a ROS node for the Watson DMS-SGP02.

Building

This package follows the standard ROS build conventions.

Create a new workspace

mkdir -p catkin_ws/src

Clone the source

cd catkin_ws/src
git clone https://github.com/AutonomousVehicleLaboratory/watson_ins.git
cd ..

Build the source

catkin init
catkin build

Running

rosrun watson_ins watson_ins_node

Node Information

Default Parameters

Parameter	Value	Description
SerialPath	/dev/ttyUSB0	Path of serial port
SerialBaud	9600	Serial baud rate
SerialTimeout	1000	Serial port timeout, in milliseconds

Subscribers

None

Publishers

Publisher	Function	Message Type
/imu_raw	Publishes IMU data	sensor_msgs::Imu
/fix	Publishes GPS data	sensor_msgs::NavSatFix

Supported Watson DMS-SGP02 Driver Configuration

Field	Field Width (Bytes)
Data Type	2
Time Stamp	9
Roll	7
Pitch	6
Yaw	6
X Acceleration	6
Y Acceleration	6
Z Acceleration	6
Forward Acceleration	6
Lateral Acceleration	6
Vertical Acceleration	6
X Angle Rate	6
Y Angle Rate	6
Z Angle Rate	6
Heading Rate	6
Forward Velocity	7
Latitude	10
Longitude	11
Altitude	5

Supporting other Watson output configuration

By default, this ROS node supports the fields mentioned in the previous section. If support for different driver configurations is desired, please see include/watson_ins_driver.h.