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EtherCAT Task Introduction

HIPNUC CH0X0 IMU

Hardware preparation

Connect your HIPNUC CH0X0 IMU forwarding board into any CAN port of your EtherCAT module.

This task only supports our own forwarding board, firmware, and introduction can be found here.

Note: If you want to connect multiple imu forwarding boards to the same CAN network, you need to change the packet IDs of each. For detailed information, please refer to the repo mentioned above.

Configuration items

  • CAN
    • The CAN port you connected to.
  • Packet1 ID
    • ID of packet 1
  • Packet2 ID
    • ID of packet 2
  • Packet3 ID
    • ID of packet 3
  • Frame name
    • The frame_id in the header of the Imu message

You can change the publisher topic name by inputting a new name in the HIPNUC IMU Publisher Topic Name input box.

Related ROS2 Message Types

/* Message type: sensor_msgs/msg/Imu */

std_msgs/Header header

geometry_msgs/Quaternion orientation
#float64[9] orientation_covariance // always empty

geometry_msgs/Vector3 angular_velocity  // rad/s
#float64[9] angular_velocity_covariance // always empty

geometry_msgs/Vector3 linear_acceleration   // m/s^2
#float64[9] linear_acceleration_covariance  // always empty