mrpt_sensors

Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last release
ROS 2 Iron (u22.04)

mrpt_sensors

ROS nodes for various robotics sensors via mrpt-hwdrivers.

All packages follow REP-2003 regarding ROS 2 topic QoS.

`mrpt_sensor_bumblebee_stereo`

ROS 2 node for Bumblebee Stereo Cameras using libdc1394 interface.

Supported models: Bumblebee2 stereo cameras with FireWire connection.

# INSTALL:
sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-bumblebee-stereo

# Launch to test it:
ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py

Launch arguments

ros2 launch mrpt_sensor_bumblebee_stereo mrpt_sensor_bumblebee_stereo.launch.py --show-args
Arguments (pass arguments as '<name>:=<value>'):

    'process_rate':
        Rate (Hz) for the process() main sensor loop.
        (default: '"80"')

    'out_rawlog_prefix':
        If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages.
        (default: '')

    'publish_mrpt_obs_topic':
        If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor.
        (default: '')

    'publish_topic':
        If not empty, messages of type sensor_msg/Image will be published to this topic (plus suffix "_left"/"_right") for each sensor observation.
        (default: 'sensor')

    'sensor_frame_id':
        The sensor frame_id name. Used to populate msg header and to publish to /tf too.
        (default: 'sensor')

    'robot_frame_id':
        The robot frame_id name. Used to publish the sensor pose to /tf.
        (default: 'base_link')

    'dc1394_framerate':
        eg: 7.5, 15, 30, 60, etc... For possibilities see mrpt::hwdrivers::TCaptureOptions_dc1394
        (default: '"15"')

    'dc1394_camera_guid':
        0 (or not present): the first camera. A hexadecimal number (0x11223344): The GUID of the camera to open
        (default: '"0"')

    'camera_preview_decimation':
        N<=0 (or not present): No preview; N>0, display 1 out of N captured frames.
        (default: '"0"')

    'sensor_label':
        The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor.
        (default: 'sensor')

    'sensor_pose_x':
        Sensor pose coordinate on the vehicle frame.
        (default: '"0.0"')

    'sensor_pose_y':
        Sensor pose coordinate on the vehicle frame.
        (default: '"0.0"')

    'sensor_pose_z':
        Sensor pose coordinate on the vehicle frame.
        (default: '"0.0"')

    'sensor_pose_yaw':
        Sensor pose coordinate on the vehicle frame (degrees).
        (default: '"0.0"')

    'sensor_pose_pitch':
        Sensor pose coordinate on the vehicle frame (degrees).
        (default: '"0.0"')

    'sensor_pose_roll':
        Sensor pose coordinate on the vehicle frame (degrees).
        (default: '"0.0"')

    'log_level':
        Logging level
        (default: 'INFO')

`mrpt_sensor_gnss_nmea`

Supported models: any GPS/GNSS sensor emiting NMEA messages via a serial/USB port.

# INSTALL:
sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-gnss-nmea

# Launch to test it:
ros2 launch mrpt_sensor_gnss_nmea mrpt_sensor_gnss_nmea.launch.py serial_port:=/dev/ttyACM0 publish_topic:="/gps"

Parsed messages (via mrpt::hwdrivers::CGPSInterface):

NMEA_GGA
NMEA_GLL
NMEA_GSA
NMEA_GSV
NMEA_MSS
NMEA_RMC
NMEA_VTG
NMEA_ZDA

Launch arguments

ros2 launch mrpt_sensor_gnss_nmea mrpt_sensor_gnss_nmea.launch.py --show-args
Arguments (pass arguments as '<name>:=<value>'):

    'process_rate':
        Rate (Hz) for the process() main sensor loop.
        (default: '"50"')

    'out_rawlog_prefix':
        If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages.
        (default: '')

    'publish_mrpt_obs_topic':
        If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor.
        (default: '')

    'publish_topic':
        If not empty, messages of the appropriate type will be published to this topic for each sensor observation.
        (default: 'sensor')

    'sensor_frame_id':
        The sensor frame_id name. Used to populate msg header and to publish to /tf too.
        (default: 'sensor')

    'sensor_label':
        The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor.
        (default: 'sensor')

    'serial_port':
        Serial port to open
        (default: '')

    'serial_baud_rate':
        Serial port baud rate (typ: 4800, 9600, etc.)
        (default: '"4800"')

    'sensor_pose_x':
        Sensor pose coordinate on the vehicle frame.
        (default: '"0.0"')

    'sensor_pose_y':
        Sensor pose coordinate on the vehicle frame.
        (default: '"0.0"')

    'sensor_pose_z':
        Sensor pose coordinate on the vehicle frame.
        (default: '"0.0"')

    'log_level':
        Logging level
        (default: 'INFO')

`mrpt_sensor_gnss_novatel`

ROS node for GNSS/IMU Novatel receivers with RTK precision using an NTRIP HTTP source. This node actually launches two mrpt::hwdrivers sensors:

mrpt::hwdrivers::CGPSInterface for the Novatel GNSS/INS device, and
mrpt::hwdrivers::CNTRIPEmitter to connect to a remove NTRIP source and emit the received corrections via a serial port.

Thus, you need to specify several mandatory ros launch arguments to make this node to work, including the Novatel serial (USB) ports, the NTRIP server configuration, etc.

Supported models: Novatel OEM6

# INSTALL:
sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-gnss-novatel

# Launch to test it:
ros2 launch mrpt_sensor_gnss_novatel mrpt_sensor_gnss_novatel.launch.py \
    publish_topic:="/gps_novatel" \
    publish_mrpt_obs_topic:="/gps_novatel_mrpt" \
    sensor_frame_id:="novatel" \
    sensor_label:="novatel" \
    novatel_main_serial_port:="/dev/serial/by-id/usb-Novatel_Inc._Novatel_GPS_Receiver_BJYA15400456J-if00-port0" \
    novatel_ntrip_serial_port:="/dev/serial/by-id/usb-Novatel_Inc._Novatel_GPS_Receiver_BJYA15400456J-if00-port2" \
    ntrip_server:="www.euref-ip.net" \
    ntrip_port:="\"2101\"" \
    ntrip_mount_point:="ALME00ESP0" \
    ntrip_user:="user" \
    ntrip_password:="pass" \
    novatel_init_azimuth:="0.0 25.0"

Launch arguments

ros2 launch mrpt_sensor_gnss_novatel mrpt_sensor_gnss_novatel.launch.py --show-args
Arguments (pass arguments as '<name>:=<value>'):

    'process_rate':
        Rate (Hz) for the process() main sensor loop.
        (default: '"50"')

    'out_rawlog_prefix':
        If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages.
        (default: '')

    'publish_mrpt_obs_topic':
        If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor.
        (default: '')

    'publish_topic':
        If not empty, messages of the appropriate type will be published to this topic for each sensor observation.
        (default: 'sensor')

    'sensor_frame_id':
        The sensor frame_id name. Used to populate msg header and to publish to /tf too.
        (default: 'sensor')

    'robot_frame_id':
        The robot frame_id name. Used to publish the sensor pose to /tf.
        (default: 'base_link')

    'sensor_label':
        The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor.
        (default: 'sensor')

    'novatel_main_serial_port':
        Main Novatel comms port
        (default: '')

    'serial_baud_rate':
        Serial port baud rate (typ: 4800, 9600, etc.)
        (default: '"4800"')

    'raw_dump_file':
        If not empty, raw GNSS data will be dumped to this file.
        (default: '""')

    'novatel_imu_orientation':
        See Novatel docs for SETIMUORIENTATION.
        (default: '"6"')

    'novatel_veh_body_rotation':
        See Novatel docs for VEHICLEBODYROTATION.
        (default: '"0.000000 0.000000 90.000000 0.000000 0.000000 0.000000"')

    'novatel_imu_to_ant_offset':
        See Novatel docs for SETIMUTOANTOFFSET.
        (default: '"-0.28 -0.08 -0.01 0.000000 0.000000 0.000000"')

    'novatel_ins_offset':
        See Novatel docs for SETINSOFFSET.
        (default: '"0.000000 0.000000 0.000000"')

    'novatel_init_azimuth':
        See Novatel docs for SETINITAZIMUTH.
        (default: '"0.000000 25.000000"')

    'ntrip_server':
        DNS or IP of the NTRIP server.
        (default: '"www.euref-ip.net"')

    'ntrip_port':
        TCP port for connecting to the NTRIP server.
        (default: '"2101"')

    'ntrip_mount_point':
        Mount point to connect inside the NTRIP server.
        (default: '"ALME00ESP0"')

    'ntrip_user':
        NTRIP server username.
        (default: '""')

    'ntrip_password':
        NTRIP server password.
        (default: '""')

    'sensor_pose_x':
        Sensor pose coordinate on the vehicle frame.
        (default: '"0.0"')

    'sensor_pose_y':
        Sensor pose coordinate on the vehicle frame.
        (default: '"0.0"')

    'sensor_pose_z':
        Sensor pose coordinate on the vehicle frame.
        (default: '"0.0"')

    'log_level':
        Logging level
        (default: 'INFO')

Quick Reference: SendNovatelCommand Service

Service Call from Command Line

Basic Syntax

ros2 service call /gnss/mrpt_sensor_gnss_novatel/send_novatel_command \
    novatel_oem6_msgs/srv/SendNovatelCommand \
    "{command: 'YOUR_COMMAND_HERE'}"

Common Examples

Set Initial Azimuth (Critical for INS Alignment)

# Format: SETINITAZIMUTH <azimuth_degrees> <std_dev_degrees>
ros2 service call /gnss/mrpt_sensor_gnss_novatel/send_novatel_command \
    novatel_oem6_msgs/srv/SendNovatelCommand \
    "{command: 'SETINITAZIMUTH 90.0 10.0'}"

Configure IMU Orientation

# See Novatel manual Table 9 for orientation codes
ros2 service call /gnss/mrpt_sensor_gnss_novatel/send_novatel_command \
    novatel_oem6_msgs/srv/SendNovatelCommand \
    "{command: 'SETIMUORIENTATION 6'}"

INS Control Commands

# Enable INS
ros2 service call /gnss/mrpt_sensor_gnss_novatel/send_novatel_command \
    novatel_oem6_msgs/srv/SendNovatelCommand \
    "{command: 'INSCOMMAND ENABLE'}"

# Disable INS
ros2 service call /gnss/mrpt_sensor_gnss_novatel/send_novatel_command \
    novatel_oem6_msgs/srv/SendNovatelCommand \
    "{command: 'INSCOMMAND DISABLE'}"

# Reset INS
ros2 service call /gnss/mrpt_sensor_gnss_novatel/send_novatel_command \
    novatel_oem6_msgs/srv/SendNovatelCommand \
    "{command: 'INSCOMMAND RESET'}"

Alignment Mode

# Set alignment mode (UNAIDED, KINEMATIC, AUTOMATIC, etc.)
ros2 service call /gnss/mrpt_sensor_gnss_novatel/send_novatel_command \
    novatel_oem6_msgs/srv/SendNovatelCommand \
    "{command: 'ALIGNMENTMODE UNAIDED'}"

Satellite Configuration

# Set elevation mask (degrees above horizon)
ros2 service call /gnss/mrpt_sensor_gnss_novatel/send_novatel_command \
    novatel_oem6_msgs/srv/SendNovatelCommand \
    "{command: 'ECUTOFF 10'}"

# Set C/N0 mask (signal strength threshold)
ros2 service call /gnss/mrpt_sensor_gnss_novatel/send_novatel_command \
    novatel_oem6_msgs/srv/SendNovatelCommand \
    "{command: 'CNOECUTOFF 25'}"

Notes

CR+LF Added Automatically: You don't need to add \r\n - the service does this
Command Case: Commands are case-insensitive in Novatel firmware
Service Namespace: Default is /gnss/mrpt_sensor_gnss_novatel/
Response: Service returns done_ok: true if command was sent (not if it succeeded on receiver)
Verification: Check receiver response by monitoring the node's log output or relevant message topics

`mrpt_sensor_imu_taobotics`

Supported models: hfi-b6, hfi-a9

# INSTALL:
sudo apt install ros-${ROS_DISTRO}-mrpt-sensor-imu-taobotics

# Launch to test it:
ros2 launch mrpt_sensor_imu_taobotics mrpt_sensor_imu_taobotics.launch.py serial_port:=/dev/ttyUSB0

Launch arguments

ros2 launch mrpt_sensor_imu_taobotics mrpt_sensor_imu_taobotics.launch.py --show-args
Arguments (pass arguments as '<name>:=<value>'):

    'process_rate':
        Rate (Hz) for the process() main sensor loop.
        (default: '"500"')

    'out_rawlog_prefix':
        If not empty, a .rawlog file will be created with all recorded data, apart of publishing it as ROS messages.
        (default: '')

    'publish_mrpt_obs_topic':
        If not empty, mrpt_msgs/GenericObservation messages will be published to this topic name with the binary serialization of mrtp::obs::CObservation objects from the sensor.
        (default: '')

    'publish_topic':
        If not empty, messages of type sensor_msg/Image will be published to this topic (plus suffix "_left"/"_right") for each sensor observation.
        (default: 'sensor')

    'sensor_frame_id':
        The sensor frame_id name. Used to populate msg header and to publish to /tf too.
        (default: 'imu')

    'robot_frame_id':
        The robot frame_id name. Used to publish the sensor pose to /tf.
        (default: 'base_link')

    'serial_port':
        Serial port device to open, e.g. /dev/ttyUSB0

    'sensor_model':
        Sensor model, needed to parse its binary frame protocol. Supported devices (check mrpt::hwdrivers::CTaoboticsIMU) at present are: (hfi-b6|hfi-a9)
        (default: '"hfi-a9"')

    'sensor_label':
        The sensorLabel field of mrpt::obs::CObservation: a "name" for the sensor.
        (default: 'sensor')

    'sensor_pose_x':
        Sensor pose coordinate on the vehicle frame.
        (default: '"0.0"')

    'sensor_pose_y':
        Sensor pose coordinate on the vehicle frame.
        (default: '"0.0"')

    'sensor_pose_z':
        Sensor pose coordinate on the vehicle frame.
        (default: '"0.0"')

    'sensor_pose_yaw':
        Sensor pose coordinate on the vehicle frame (degrees).
        (default: '"0.0"')

    'sensor_pose_pitch':
        Sensor pose coordinate on the vehicle frame (degrees).
        (default: '"0.0"')

    'sensor_pose_roll':
        Sensor pose coordinate on the vehicle frame (degrees).
        (default: '"0.0"')

    'log_level':
        Logging level
        (default: 'INFO')

`mrpt_sensor_velodyne`

Supported models: VLP16,HDL32,HDL64

ros2 launch mrpt_sensors velodyne.launch.py

TODO: Document and explain parameters.

Individual package build status

Package	ROS 2 Humble BinBuild	ROS 2 Jazzy BinBuild	ROS 2 Kilted BinBuild	ROS 2 Rolling BinBuild
mrpt_generic_sensor
mrpt_sensor_bumblebee_stereo
mrpt_sensor_gnss_nmea
mrpt_sensor_gnss_novatel
mrpt_sensor_imu_taobotics
mrpt_sensorlib
mrpt_sensors
novatel_oem6_msgs

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mrpt_sensors

Table of Contents

`mrpt_sensor_bumblebee_stereo`

`mrpt_sensor_gnss_nmea`

`mrpt_sensor_gnss_novatel`

Service Call from Command Line

Basic Syntax

Common Examples

Set Initial Azimuth (Critical for INS Alignment)

Configure IMU Orientation

INS Control Commands

Alignment Mode

Satellite Configuration

Notes

`mrpt_sensor_imu_taobotics`

`mrpt_sensor_velodyne`

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Name		Name	Last commit message	Last commit date
Latest commit History 102 Commits
.github		.github
mrpt_generic_sensor		mrpt_generic_sensor
mrpt_sensor_bumblebee_stereo		mrpt_sensor_bumblebee_stereo
mrpt_sensor_gnss_nmea		mrpt_sensor_gnss_nmea
mrpt_sensor_gnss_novatel		mrpt_sensor_gnss_novatel
mrpt_sensor_imu_taobotics		mrpt_sensor_imu_taobotics
mrpt_sensorlib		mrpt_sensorlib
mrpt_sensors		mrpt_sensors
novatel_oem6_msgs		novatel_oem6_msgs
scripts		scripts
.clang-format		.clang-format
.gitignore		.gitignore
LICENSE		LICENSE
README.md		README.md

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mrpt_sensors

Table of Contents

mrpt_sensor_bumblebee_stereo

mrpt_sensor_gnss_nmea

mrpt_sensor_gnss_novatel

Service Call from Command Line

Basic Syntax

Common Examples

Set Initial Azimuth (Critical for INS Alignment)

Configure IMU Orientation

INS Control Commands

Alignment Mode

Satellite Configuration

Notes

mrpt_sensor_imu_taobotics

mrpt_sensor_velodyne

Individual package build status

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`mrpt_sensor_bumblebee_stereo`

`mrpt_sensor_gnss_nmea`

`mrpt_sensor_gnss_novatel`

`mrpt_sensor_imu_taobotics`

`mrpt_sensor_velodyne`