Distro	Build dev	Release
ROS2 Humble (u22.04)
ROS2 Iron (u22.04)
ROS2 Rolling (u24.04)

mrpt_sensors

ROS nodes for various robotics sensors via mrpt-hwdrivers.

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

Table of Contents

• mrpt_sensor_bumblebee_stereo
• mrpt_sensor_gnns_nmea
• mrpt_sensor_imu_taobotics
• mrpt_sensor_velodyne
• Individual package build status

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_gnns_nmea

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

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

# Launch to test it:
ros2 launch mrpt_sensor_gnns_nmea mrpt_sensor_gnns_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_gnns_nmea mrpt_sensor_gnns_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_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 Iron BinBuild	ROS 2 Rolling BinBuild
mrpt_generic_sensor
mrpt_sensor_bumblebee_stereo
mrpt_sensor_gnns_nmea
mrpt_sensor_imu_taobotics
mrpt_sensorlib
mrpt_sensors