Package Description

This package handle the communication with the APM 2.5 microcontroller and publish the readings of the following sensors: IMU (sensor_msgs/Imu), GPS (sensor_msgs/NavSatFix and sensor_msgs/NavSatStatus), Ultrasonic and InfraRed range sensors (sensor_msgs/Range) and PC battery voltage (std_msgs::Float32). The komodo_sensors node uses the serial_node.py node from the rosserial package (see http://wiki/rosserial for more details). The imu_filter_madgwick package (see http://wiki/imu_tools) is used to filter and fuse raw data from the IMU. It fuses angular velocities, accelerations, and (optionally) magnetic readings from a generic IMU device into an orientation quaternion, and publishes the fused data on the imu/data topic.

Package Configuration

Package configuration files are:

○ \launch\sensors_launch.launch - This launch file runs the serial comunication node from the rosserial package. Users can specify the GPS frame id. This file can be launched from the main launch file (komodo_launch.launch).