IMU_Cam_LiDAR_driver

For the data recording of Xsens IMU, Zed stereo camera and VLP16 LiDAR

Yulin Yang from yuyang@udel.edu

06/19/2017

Instruction for configuring xsens IMU, zed camera, velodyne LiDAR and Loitor vi-sensor

driver download:

1. For velodyne: (recommended, with rviz for display) github velodyne driver, ROS support for Velodyne 3D LIDARs

• https://github.com/ros-drivers/velodyne.git

2. For zed camera:(recommended, with detailed instruciton for sensor configuration) github rpng zed_cpu_ros, no need to install cuda

• https://github.com/rpng/zed_cpu_ros.git

3. For xsens driver github ethz-asl (recommended)

• https://github.com/ethz-asl/ethzasl_xsens_driver.git

github xsens website (detailed instruction for sensor configuratioin)

• https://github.com/xsens/xsens_mti_ros_node.git

4. For Loitor vi-sensor

github loitor visensor (including docs and instructions)

• https://github.com/loitor-vis/vi_sensor_sdk.git

build drivers:

1. setup the ros work space, like

~/catkin_ws_data with subfolders

~/catkin_ws_data/src

~/catkin_ws_data/devel

~/catkin_ws_data/build

2. download all the source code into the folder of src;

3. catkin build

Note: If missing any libs, just find out and install.

check sensors

1. Xsens IMU

1.1) setup the sensor

rosrun xsens_driver mtdevice.py -m $sm -f $fs # publish sensor data

where $fs can be 1,5,10,20,40,50,80,100,200 or 400Hz. This configures the MTi to output inertial data and magnetometer data at the set ODR. The maximum supported inertial update rate is 400Hz and for the magnetometer it is 100Hz. The $sm can be set to 1,2 or 3. This can be used to set the sensor to output sensor data or filter outputs.

1.2) start xsens IMU

%newgrp dialout

sudo chmod 777 /dev/ttyUSB0

source devel/setup.bash

roslaunch xsens_driver xsens_driver.launch

1.3) check the imu data

rostopic echo /imu/data

2. Zed camera

2.1) setup the sensor (note that zed need high speed USB port USB3.0)

all the parameters needed for setting up are in the launch file (the frequency, the calibration parameters)

2.2) roslaunch zed_cpu_ros zed_cpu_ros.launch

2.3) check the camera images

/camera/left/image_raw

/camera/right/image_raw

3. Velodyne LiDAR

3.1) roslaunch velodyne_pointcloud VLP16_points.launch

3.2) check the lidar data

/velodyne_points

3.3) adjust the frequency of the LiDAR

Login the LiDAR following the manual and set the rpm as 60 * n Hz. n is the frequency you want.

Go to the Launch file and change the rpm as 60 * n Hz. n is the frequency.

There you go. It is ready for you to get data.

Be sure to check the batteray and the frequency of the LiDAR

4. Loitor vi-sensor

4.1) sudo -s

4.2) sudo chmod 777 /dev/ttyUSB0

4.3) rosrun loitor_stereo_visensor loitor_stereo_visensor src/IMU_Cam_LiDAR_driver/vi_sensor_sdk/loitor_ros_workspace/src/loitor_stereo_visensor/Loitor_VISensor_Setups.txt

4.4) check the topics

rostopic echo /imu0

rostopic echo /cam0/iamge_raw

rosbag record data

TODO: write a launch file to launch all the sensors together

1. record IMU, Camera and LiDAR data with selected rostopics

rosbag record -O icl_xx /imu/data /camera/left/image_raw /camera/right/image_raw /velodyne_points

2. record Camera and LiDAR with selected rostopics

rosbag record -O cl_xx /camera/left/image_raw /camera/right/image_raw /velodyne_points

3. record IMU and Camera data

rosbag record -O ic_xx /imu/data /camera/left/image_raw /camera/right/image_raw

4. record all the messages from IMU, Camera and LiDAR

rosbag record -a

4. record all the messages from camera and LiDAR

rosbag record -a

5. record all the messages from IMU and Camera

rosbag record -a

6. record all the messages from loitor vi-sensor, zed camera and LiDAR

rosbag record -O vcl_xx /imu0 /cam0/image_raw /cam1/image_raw /camera/right/image_raw /camera/left/image_raw /velodyne_points

7. record messages from loitor vi-sensor, zed camera and LiDAR

rosbag record -O test1 /imu0 /cam0/image_raw /cam1/image_raw /camera/right/image_raw /camera/left/image_raw /velodyne_points /tf /velodyne_nodelet_manager/bond /velodyne_nodelet_manager_cloud/parameter_descriptions /velodyne_nodelet_manager_cloud/parameter_updates /velodyne_nodelet_manager_driver/parameter_descriptions /velodyne_nodelet_manager_driver/parameter_updates /velodyne_packets

data check

For check the rostopic:

rostopic list

For display the topic

rostopic echo \imu0

For display the image

rqt

rosrun image_view image_view image:=/camera/left/image_raw

For display the pointcloud real time

rviz