10 DOF ROS IMU (A)

10-axis IMU Sensor

Introduction

10 DOF ROS IMU (A) is a 10-axis IMU sensor that integrates an ARM 32-bit DSP processor, BLE5.3 Bluetooth, high-precision accelerometer, gyroscope, magnetometer, and thermobarometer. When used together, it can collect surrounding acceleration, gyroscope, and magnetic field data, and detect the motion attitude of the robot.

Features

Adopts self-developed attitude estimation algorithm, it offers excellent real-time performance, high accuracy, and stability without drifting.
Supports UART and BLE 5.3 Bluetooth communication to assist motion attitude and orientation detection of robot.
Supports Android, iOS, Windows, Linux systems, and other BLE Bluetooth devices for connection and use.

Specifications

Product	10 DOF ROS IMU (A)
Power supply	3.3V ~ 5V
Baud rate	115200
Data return rate	0.5~250HZ
Interface package	ZH1.5-4A
Communication format	8 data bits, 1 stop bit, no parity bit
Data packet format	Preamble+Start Code+Address+Length+Data Body+Checksum+End Code
Data output	Acceleration, angular velocity, magnetic field vector, temperature, barometric pressure, Euler angle, quaternion
Accelerometer	Range: ±16g Resolution: 0.00048g
Gyroscope	Range: ±2000°/s Resolution: 0.061°/s
Magnetometer	Range: ±8Guass Resolution: 0.12uT
Temperature sensor	Range: -45℃~85℃ Resolution: 0.01℃(onboard temperature)
Barometer	Range: 300~1200hPa Resolution: 0.006hPa

Pinout Definition

Pin No.	Identifier	Description
1	5V	3.3V~5.0V power supply
2	G	Connect to GND, ground pin
3	Rx	Serial data receive pin
4	Tx	Serial data transmit pin

Hardware Connection

1. Serial port connection, red wire VCC, black wire GND, blue wire TXD, yellow wire RXD
2. This product does not include a USB to UART serial port module

Assembly with same coordinate axes directions:

Axial Description

The axial orientation of the 10 DOF ROS IMU (A) is shown in the figure above and conforms to the right-hand coordinate system

Dimensions

Demo

Serial Communication

Install the serial port driver, find the device port number
Install the corresponding driver according to the type of serial port conversion module chip
Take Windows as an example. The port number is shown in the following figure
Install the required dependencies
Windows, Linux:
```
pip install pyserial numpy pygame PyOpenGL
```
Initialize
Replace the line 8 ser_port = "COM13" with the corresponding serial port, and rotate the Z-axis of the module more than a full circle perpendicular to the horizontal plane and the Z-axis balanced on the horizontal plane within 10 seconds
Windows, Linux:
```
python3 imu_init.py
```
Execute data parsing code
Replace the line 7 ser_port = "COM13" with the corresponding serial port
- Windows: Usually COMx.
```
python3 imu_uart.py
```
- Linux: Different ports for different systems, for example /dev/ttyUSBx, /dev/ttySx, you can query the device for confirmation of newly added devices by hot-plugging the devices
```
ls /dev/tty*
```
```
python3 imu_uart.py
```
GUI visualization interface
Need to stop the data parsing program in the previous step and execute the following program
```
python3 imu_uart_gui.py
```

Bluetooth Communication

Install the Bluetooth debugging software and find the MAC address of the device
- Install nRF Connect on Android
- Install LightBlue on Apple
Take Android as an example. The MAC address is shown in the figure below

Only use the send and receive characteristics of service UUID: 0000ae30-0000-1000-8000-00805f9b34fb
Send characteristic value: 0000ae01-0000-1000-8000-00805f9b34fb (must use write no response method)
Receive characteristic value: 0000ae02-0000-1000-8000-00805f9b34fb (Notify needs to be enabled to receive data from the device)
Note: After connecting the module, send the Bluetooth connection retention command (i.e., 0x29 command) as soon as possible, otherwise the module will automatically disconnect after 30 seconds and note to use the write no response method when sending data

Install the required dependencies

Windows:

pip install bleak numpy

Linux:

sudo apt-get install bluez libbluetooth-dev

pip install gatt

Execute the code
Before use, it is recommended to perform the initialization steps in serial communication
- Windows: Replace line 14 par_device_addr="70:53:B2:02:20:02" with the MAC address found in the first step
```
python3 imu_ble.py
```
- Linux: Replace with the MAC address found in the first step
```
python3 imu_ble.py 70:53:B2:02:20:02
```

ROS Serial Communication

Take "/dev/ttyUSB0" as an example

Find the device port number
- Query the device for confirmation of newly added devices by hot-plugging the devices
```
ls /dev/tty*
```
- Grant serial port permissions:
```
sudo chmod 666 /dev/ttyUSB0
```

Install the required dependencies

ROS1 noetic:

sudo apt update && sudo apt install ros-noetic-serial  ros-noetic-imu-tools

ROS2 humble:

sudo apt update && sudo apt install libserial-dev  ros-humble-imu-tools

Compile
- ROS1 noetic:
Go to the root directory of the workspace
```
cd ros1_ws
```
Compile
```
catkin_make -DCATKIN_WHITELIST_PACKAGES="imu"
```
Update environment variables
```
source devel/setup.bash
```
- ROS2 humble:
Go to the root directory of the workspace
```
cd ros2_ws
```
Compile the serial port library first
```
colcon build --packages-select serial
```
Update environment variables
```
source install/setup.bash
```
Recompile
```
colcon build --packages-select imu
```
Update environment variables
```
source install/setup.bash
```
Execute data parsing code
- ROS1 noetic:
Need to have Roscore started, or have a launch file running in the system (Optional) Open a new window to start roscore
```
roscore
```
Open a new window to parse data
```
rosrun imu imu_node _port_name:=/dev/ttyUSB0
```
Open a new window to view data
```
rostopic echo /imu/data
```
- ROS2 humble:
Open a new window to parse data
```
ros2 run imu imu_node --ros-args --param port_name:=/dev/ttyUSB0
```
Open a new window to view data
```
ros2 topic echo /imu/data
```
RVIZ visualization interface
Need to stop the data parsing program in the previous step and execute the following program
- ROS1 noetic:
```
roslaunch imu imu_view.launch port_name:=/dev/ttyUSB0
```
- ROS2 humble:
```
ros2 launch imu imu_view.launch.py port_name:=/dev/ttyUSB0
```

Demo Download

1. Click to download 10_DOF_ROS_IMU_(A) Code
2. Please install the related libraries and then run the demo. For the ROS demo, please compile and use it on the ROS system

FAQ

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