Add real IMU

.travis.yml

@@ -19,7 +19,10 @@ install:
   - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
   - wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
   - sudo apt-get update -qq
-  - sudo apt-get install -qq -y python-rosdep python-catkin-tools python3-vcstool wget
+  - sudo apt-get install -qq -y libqt4-dev python-catkin-tools python-rosdep python3-vcstool wget
+  # Install RTIMULib
+  - bash ${TRAVIS_BUILD_DIR}/sensors/ca_imu/scripts/install_rtimulib.sh
+  # Install dependencies
   - sudo rosdep init
   - rosdep update
   # Create workspace

ca_bringup/launch/minimal.launch

@@ -2,21 +2,29 @@
   <arg name="robot_id"  default="$(optenv ID 1)"      doc="Unique identifier of the robot [1-Inf.)"/>
   <arg name="ns"        value="create$(arg robot_id)" doc="Namespace of the robot. By default: create1"/>
 
-  <arg name="raspicam_receiver_IP" default="" doc="Raspicam client IP"/>
-  <arg name="laser" default="$(optenv LASER)" doc="Laser for mapping the environment"/>
+  <arg name="raspicam_receiver_IP" default=""         doc="Raspicam client IP"/>
+  <arg name="laser" default="$(optenv LASER)"         doc="Laser for mapping the environment"/>
+
+  <arg name="rviz" default="$(optenv RVIZ false)"     doc="Flag to use RViz"/>
+  <arg name="imu"  default="$(optenv IMU true)"       doc="Flag to use the IMU MPU9255"/>
 
   <include file="$(find ca_node)/launch/create_2.launch"/>
 
+  <!-- RViz -->
+  <!-- TODO: HAVE A PLACE IN COMMON WITH GAZEBO -->
+  <include if="$(arg rviz)" file="$(find ca_tools)/launch/rviz.launch"/>
+
   <!-- raspicam -->
-  <include if="$(eval arg('raspicam_receiver_IP') != '')" file="$(find ca_visual_odometry)/launch/raspicam_stream.launch">
+  <!-- <include if="$(eval arg('raspicam_receiver_IP') != '')"
+           file="$(find ca_visual_odometry)/launch/raspicam_stream.launch">
     <arg name="IP" value="$(arg raspicam_receiver_IP)"/>
-  </include>
+  </include> -->
 
-  <!-- IMU -->
-  <!-- <include file="$(find ca_imu)/launch/imu.launch"/> -->
-
-  <!-- Mapping sensors -->
   <group ns="$(arg ns)">
+    <!-- IMU -->
+    <include if="$(arg imu)" file="$(find ca_imu)/launch/mpu9255.launch"/>
+
+    <!-- Mapping sensors -->
     <include if="$(eval arg('laser')=='astra')"     file="$(find ca_camera)/launch/orbbec_astra_pro.launch"/>
     <include if="$(eval arg('laser')=='kinect')"    file=""/>
     <include if="$(eval arg('laser')=='r200')"      file=""/>

ca_description/urdf/sensors/imu_sensor.xacro

@@ -23,6 +23,10 @@
     </visual>
   </link>
 
+  <gazebo reference="${link_name}">
+    <material>Gazebo/BlueGlow</material>
+  </gazebo>
+
   <gazebo>
     <plugin name="${name}" filename="libgazebo_ros_imu.so">
       <alwaysOn>true</alwaysOn>

docker/create_ros_melodic/Dockerfile

@@ -45,7 +45,21 @@ RUN echo ". /opt/ros/${ROS1_DISTRO}/setup.bash" >> /home/${USER}/.bashrc
 ENV CATKIN_SETUP_BASH "${WS_DIR}/devel/setup.bash"
 RUN echo "[[ -f ${CATKIN_SETUP_BASH} ]] && . ${CATKIN_SETUP_BASH}" >> /home/${USER}/.bashrc
 
+# Install RTIMULib
+ENV RTIMULib_PATH="/home/${USER}/RTIMULib"
+ENV RTIMULib_BUILD="${RTIMULib_PATH}/Linux/build"
+# Clone repo in RTIMULib_PATH
+RUN mkdir -p ${RTIMULib_PATH}
+RUN git clone https://github.com/RoboticaUtnFrba/RTIMULib.git ${RTIMULib_PATH}
+WORKDIR ${RTIMULib_PATH}
+# Build and install RTIMULib
+RUN mkdir -p ${RTIMULib_BUILD}
+WORKDIR ${RTIMULib_BUILD}
+RUN cmake -DBUILD_GL=OFF ..
+RUN make -j4
 USER root
+RUN make install
+RUN ldconfig
 
 # Workspace
 RUN mkdir -p ${WS_DIR}/src/ && \

docker/create_ros_melodic_gazebo9/packages.txt

@@ -2,6 +2,7 @@ gstreamer1.0-tools
 libgstreamer1.0-dev
 libgstreamer-plugins-base1.0-dev
 libgstreamer-plugins-good1.0-dev
+libqt4-dev
 libudev-dev
 python-catkin-lint
 
@@ -20,6 +21,7 @@ ros-*-gazebo-ros-control
 ros-*-gazebo-ros-pkgs
 ros-*-hardware-interface
 ros-*-image-proc
+ros-*-imu-tools
 ros-*-joint-limits-interface
 ros-*-joy
 ros-*-joy-teleop

docker/create_ubuntu_bionic/Dockerfile

@@ -19,6 +19,7 @@ RUN apt-get update && \
     build-essential \
     curl \
     git \
+    libqt4-dev \
     mesa-utils \
     pkg-config \
     python-vcstools \

docs/INSTALLATION.md

@@ -2,7 +2,7 @@
 
 ## Prerequisites
 
-* [ROS](http://wiki.ros.org/ROS/Installation) _Kinetic_ or _Melodic_
+* [ROS](http://wiki.ros.org/ROS/Installation) _Melodic_
 * [Gazebo 9](http://gazebosim.org/tutorials?cat=install&tut=install_ubuntu&ver=9.0#Alternativeinstallation:step-by-step) or higher
 * Ubuntu packages: `python-rosdep`, `python-catkin-tools`
 
@@ -25,43 +25,26 @@ sudo apt-get install -y python-rosdep python-catkin-tools
     git clone https://github.com/RoboticaUtnFrba/create_autonomy.git
     ```
 
-3. Compile RTIMULib2
+3. Install dependencies
+
+    I. Install RTIMULib
 
     ```bash
-    cd ~/create_ws/src/RTIMULib2/Linux && mkdir build && cd build
-    sudo apt-get install -y libqt4-dev
-    cmake ..
-    make -j4
-    sudo make install
-    sudo ldconfig
+    cd ~/create_ws
+    ./src/create_autonomy/sensors/ca_imu/scripts/install_rtimulib.sh
     ```
 
-4. Install dependencies
+    II. Install other dependencies
 
     ``` bash
-    sudo apt-get install -y gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev
     cd ~/create_ws
     sudo apt install -y python3-vcstool
     vcs import src < src/create_autonomy/<DEVICE>.repos
     rosdep update
     rosdep install --from-paths src -i
     ```
 
-5. Build
-
-    5.1. Build RTIMULib2 for Raspberry Pi
-
-    ``` bash
-    cd ~/create_ws/src/RTIMULib2/Linux
-    mkdir build
-    cd build
-    cmake ..
-    make -j4
-    sudo make install
-    sudo ldconfig
-    ```
-
-    5.2. Build workspace
+4. Build workspace
 
     ``` bash
     cd ~/create_ws

rpi.repos

@@ -3,10 +3,10 @@ repositories:
     type: git
     url: https://github.com/RoboticaUtnFrba/gscam.git
     version: master
-  # i2c_imu:
-  #   type: git
-  #   url: https://github.com/RoboticaUtnFrba/i2c_imu.git
-  #   version: master
+  i2c_imu:
+    type: git
+    url: https://github.com/RoboticaUtnFrba/i2c_imu.git
+    version: master
   libcreate:
     type: git
     url: https://github.com/RoboticaUtnFrba/libcreate.git
@@ -19,10 +19,6 @@ repositories:
     type: git
     url: https://github.com/RoboticaUtnFrba/ros_astra_camera.git
     version: master
-  # RTIMULib2:
-  #   type: git
-  #   url: https://github.com/RoboticaUtnFrba/RTIMULib2.git
-  #   version: master
   viso2:
     type: git
     url: https://github.com/RoboticaUtnFrba/viso2.git

sensors/ca_imu/CMakeLists.txt

@@ -1,28 +1,36 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(ca_imu)
-## Compile as C++11, supported in ROS Kinetic and newer
+
 add_compile_options(-std=c++11)
 
-## Find catkin macros and libraries
+find_library(RTIMULib libRTIMULib.so REQUIRED)
+
+if(RTIMULib-NOTFOUND)
+  message(FATAL_ERROR
+    "
+    You must install RTIMULib:
+
+    . ${PROJECT_SOURCE_DIR}/scripts/install_rtimulib.sh
+    "
+  )
+endif()
+
 find_package(catkin REQUIRED COMPONENTS
-  geometry_msgs
-  roscpp
+  i2c_imu
+  imu_filter_madgwick
+  rospy
   sensor_msgs
-  std_msgs
   tf
 )
 
 catkin_package(CATKIN_DEPENDS
-  geometry_msgs
-  roscpp
+  rospy
   sensor_msgs
-  std_msgs
 )
 
 include_directories(${catkin_INCLUDE_DIRS})
 
 install(DIRECTORY scripts
         DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
         USE_SOURCE_PERMISSIONS
-        PATTERN ".svn" EXCLUDE
 )

sensors/ca_imu/README.md

@@ -1,33 +1,35 @@
 # IMU (MPU9255 9 DOF)
 
-Interfacing Raspberry Pi with MPU9255:
+Interfacing **Nvidia Jetson Nano** with **MPU9255**:
 
-![Connection between RPi and MPU9255](media/wiring.png)
+> VCC --> 5V
+> GND --> GND
+> SCL --> PIN 5
+> SDA --> PIN 3
 
-## Installation
-
-### [RTIMULib2](https://github.com/RoboticaUtnFrba/RTIMULib2)
+## Setup
 
-Go to the RTIMULib2 directory and compile it:
+```bash
+sudo usermod -aG i2c $USER
 
+$ sudo i2cdetect -y -r 1
+0x68
 ```
-$ cd Linux
-$ mkdir build
-$ cd build
-$ cmake ..
-$ make -j4
-$ sudo make install
-$ sudo ldconfig
-```
 
-## [Calibrate IMU](https://github.com/RoboticaUtnFrba/RTIMULib2/blob/master/Calibration.pdf)
+## Installation
+
+### [RTIMULib](https://github.com/RoboticaUtnFrba/RTIMULib)
+
+RTIMULib is automatically installed when the repository is compiled using the script located in `ca_imu/scripts/install_rtimulib.sh`.
+
+## [Calibrate IMU](https://github.com/RoboticaUtnFrba/RTIMULib/blob/master/Calibration.pdf)
 
 The normal process is to run the magnetometer min/max option followed by the magnetometer ellipsoid fit option followed finally by the accelerometer min/max option.
 
-The resulting RTIMULib.ini can then be used by any other RTIMULib application.
+The resulting `RTIMULib.ini` can then be used by any other RTIMULib application.
 
-```sh
-$ RTIMULibCal
+```bash
+RTIMULibCal
 ```
 
 ### Calibrating the magnetometer
@@ -38,16 +40,8 @@ $ RTIMULibCal
 
 [This video](https://www.youtube.com/watch?v=CnLtzwCbVc4) shows how the calibration process of the accelerometer has to be made.
 
-## [i2c_imu ROS package](https://github.com/RoboticaUtnFrba/i2c_imu)
-
-```
-$ cd catkin_ws/src
-$ git clone [email protected]:RoboticaUtnFrba/i2c_imu.git
-```
-
 ### Running
 
+```bash
+roslaunch ca_imu mpu9255.launch
 ```
-$ roslaunch ca_imu imu.launch
-$ rviz
-```