melodic noetic

OpenZen Node for ROS

This software allows to forward sensor data from sensor connected via OpenZen to ROS. It supports a wide range of LP-Research LPMS Sensor models.

OpenZen is a library for high performance sensor data streaming and processing and supports multiple sensor models: OpenZen

The full documentation for OpenZen ROS can be found here: OpenZen ROS documentation

For the list of all supported LPMS sensor models, please check List of supported Sensors. Please note that this ROS driver does not support Bluetooth sensor models in the default configuration. If you need Bluetooth support, you need to compile the ROS package yourself by following these Instructions and make sure you read the instructions on Bluetooth usage in ROS

Installing via the Package Manager

The OpenZen ROS driver is part of the official ROS distribution and you can conveniently install it via the package manager of your Linux distribution. Please check this website to see if the OpenZen ROS driver is available for the ROS distribution you use:

OpenZen ROS Package

For example, on Ubuntu 18.04 and with ROS distribution Melodic Morenia, the OpenZen ROS driver can be installed with this command:

apt install ros-melodic-openzen-sensor

Running the Driver

You can then run the OpenZen ROS driver with this command in the window you used to compile the software:

rosrun openzen_sensor openzen_sensor_node

By default, it will connect to the first available sensor. If you want to connect to a specific sensor, you can use the serial name of the sensor as parameter, for example:

rosrun openzen_sensor openzen_sensor_node _sensor_name:="LPMSCU2000573"

If your sensor is configured for a different baud rate, you can use the baudrate parameter to give a specfic baud rate setting:

rosrun openzen_sensor openzen_sensor_node _sensor_name:="LPMSCU2000573" _baudrate:=115200

Now you can print the IMU values from ROS with:

rostopic echo /imu/data

To output the values of a GPS unit (if available) use this command:

rostopic echo /imu/nav

Or plot some values (for example linear acceleration) with

rosrun rqt_plot rqt_plot /imu/data/linear_acceleration

If you want to readout the values of two OpenZen sensors simultaneously, you need to rename the topics and the node names likes this:

rosrun openzen_sensor openzen_sensor __name:="cu2node" _sensor_name:="LPMSCU2000573" imu:=/cu2_imu 
rosrun openzen_sensor openzen_sensor __name:="ig1_node" _sensor_name:="LPMSIG1000032" imu:=/ig1_imu

Alternatively, we have prepared a sample launch file openzen_lpms_ig1.launch to demonstrate data acquisition and plotting using openzen_sensor_node:

roslaunch openzen_sensor openzen_lpms_ig1.launch

Published Topics

Tor the full list of published ROS topics, please have a look at this list: OpenZen ROS Topics