# ros2_wheeltec_n100_imu

ROS2 driver pkg for WHEELTEC N100 IMU module.

![alt wheeltec N100](https://i.ebayimg.com/images/g/2EsAAOSw7WVhk2Vr/s-l1600.jpg)

topics:
- /imu
- /imu_trueEast
- /magnetic_field
- /magnetic_pose_2d

### install
```
mkdir -p /ros2_ws/src
cd /ros2_ws/src
git clone https://github.com/RoverRobotics-forks/serial-ros2.git #install ros2_serial
git clone https://github.com/NDHANA94/ros2_wheeltec_n100_imu.git
cd ~/ros2_ws
colcon build
source install/setup.bash

```
### run

* defaut run:
default serial port: `/dev/ttyACM0`
default serial baudrate: `921600`
```
ros2 run wheeltec_n100_imu imu_node 
```

* run with custom params:
```
ros2 run wheeltec_n100_imu imu_node --ros-args -p serial_port:="/dev/ttyACM0" -p serial_baud:=921600
```

| parameter | data type | default value |
| --- | --- | --- |
| debug | bool | false |
|serial_port | string |  "/dev/ttyACM0" |
|serial_baud | int | 921600 |
|serial_timeout | int | 20 |
| device_type |int | 1 |
| frist_sn | bool | false |
| imu_topic | string | "imu" |
| imu_frame imu | string | "imu" |
| mag_pose_2d_topic | string |"magnetic_pose_2d" |
| imu_trueEast_topic | string | "imu_trueEast"|
| mag_topic | string | "magnetic_field" |
| yaw_offset | double | -2.094 |
| mag_offset_x | double | 0.0 |
| mag_offset_y | double | 0.0 |
| mag_offset_z | double | 0.0 |
| imu_mag_covVec | vector<double> | {0.01, 0.01, 0.01}|
| imu_gyro_covVec | vector<double> |  {0.01, 0.01, 0.01} |
| imu_accel_covVec | vector<double> |  {0.05, 0.05, 0.05} |

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The code is based on [ROS1 fdilink imu driver](https://github.com/sbgisen/fdilink_ahrs)