Honeywell IMU - hg_node

The purpose of the hg_node is to translate the received buffer into human readable data and publish it to the ROS for other nodes to use

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Currently the HG1120 and HG4930 IMUs are supported.

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The driver was designed with ROS Kinetic distribution and might not work for others without modifications.

Honeywell HGuide Web Page

ROS Driver Download

Honeywell IMU GitLab

please not that you have to have a GitLab account and request access to the Honeywell IMU Group

The hg_node includes:

• API - HgDataParser

• Publisher - serial_publisher
• Example - listener_example

Functions Description

serial_publisher

rosrun command:

(su) $ rosrun hg_node serial_publisher [optional port name] [baud rate]

Defaults:

• port name = /dev/ttyUSB0

• baudrate = 1,000,000 baud

Program is used to publish translated IMU data for other nodes to use. Separate Control, Inertial and Health messages are sent. The program will determine the IMU used and publish the messages accordingly. Furthermore standard sensor_msgs::Imu message is being published for both var

HG1120 - messages are common for both output variants (0x04/0x05 and 0x0C/0x0D)

<hg_node::X04ControlMessage>”HG1120/ControlData”
<hg_node::X05InertialMessage>”HG1120/InertialData”
<hg_node::X04HealthData>”HG1120/HealthData”
<sensor_msgs::Imu>"HG1120/ImuData"

HG4930

<hg_node::X01ControlMessage>”HG4930/ControlData”
<hg_node::X02InertialMessage>”HG4930/InertialData”
<hg_node::X01HealthData>”HG4930/HealthData”
<sensor_msgs::Imu>"HG4930/ImuData"

Super user access is required to access the com port. Without it, the publisher won’t be able to open it and will return -1 value.

listener_example

rosrun command:

$ rosrun hg_node listener_example

Program is used as an example to show how to subscribe to published “HG1120/ImuData” or “HG4930/ImuData” topics and use them in turtlesim specific “cmd_vel” defining the angular and forward speed of the turtle.

Note that the axes were changed in order to work better with the evaluation board and that the turtle is limited to yaw rotation and forward/backward movement.

Quick Start

Prerequisites:

• ROS installed
• IMU connected over USB-serial to ROS device

1. Copy “hg_node” folder into ~/catkin_ws/src/

2. Open terminal to start roscore

$ roscore

3. Open another terminal and change directory to /catkin_ws/

$ cd ~/catkin_ws/

4. Elevate privileges to super user

$ sudo su

5. Source catkin under super user

$ source ./devel/setup.bash

6. Build the package

$ catkin_make

7. Start the launch file

$ roslaunch hg_node TurtleExample.launch

The launch file will open serial communication over default /dev/ttyUSB0 port with default 1,000,000 baudrate and stream the data to turtle sim for you to test the device function

API Description

It is used to translate the UINT8 buffered data to container structures for easier handling.

Separate data structures for HG4930 and HG1120 are used as, both devices provide slightly different data.

Used units

Message Types Definition

For definition of the sensor_msgs::Imu, please see official documentation.

In order to use driver's custom messages in your c/c++ code, use:

HG1120

#include <hg_node/X04ControlMessage.h>
#include <hg_node/X04HealthData.h>
#include <hg_node/X05InertialMessage.h>

Inertial Message <hg_node::X05InertialMessage>

Control Message <hg_node::X04ControlMessage>

Health Message <hg_node:: X04HealthData>

HG4930

#include <hg_node/X01ControlMessage.h>
#include <hg_node/X01HealthData.h>
#include <hg_node/X02InertialMessage.h>

Control Message <hg_node::X02InertialMessage>

Control Message <hg_node::X01ControlMessage>

Health Message <hg_node:: X01HealthData>

Report a Bug

Please feel free to post bug reports and suggestions on the GitLab