TDK ROBOKIT1 Sensor-Packed Open Source SmartRobotics Module User Guide

TDK ROBOKIT1 Sensor-Packed Open Source SmartRobotics Module

ROBOKIT1 MODULE

This document provides an overview of ROS2 drivers that publish data on specific topics using ROS2 compliant message structures. This module includes a Pressure, IMU, Temperature, Magnetometer, Audio, Microphone, and Ultrasonic sensors.

ROS2 DRIVER DEV ENVIRONMENT

• TDK RoboKit1 Board

• Raspberry Pi 4 / Ubuntu Machine
  o Install all required packages for ROS2 Foxy
  o Test that packages working as expected

• Build Sensor Packages
  o Create your own workspace with src directory
  o Internal package to clone

• GitHub – RoboKit1-ROS2-Drivers

• ROS2 nodes written in python

• Nodes inside tdk_robokit_ctrl_sensors_node package
  o Build the packages in your local workspace

• rm -rf install/ log/ build/

• colcon build –symlink-install

START ROS2 NODES AND LOG DATA

• ros2 run tdk_robokit_ctlr_sensors_node icm42622_publisher
• ros2 run tdk_robokit_ctrl_sensors_node ak09918_publisher
• ros2 run tdk_robokit_ctrl_sensors_node icp10101_publisher
• ros2 run tdk_robokit_ctrl_sensors_node ch101_publisher
• ros2 run tdk_robokit_ctrl_sensors_node ads7052_publisher
• ros2 run tdk_robokit_ctrl_sensors_node ics43434_publisher
• ros2 topic list
• ros2 topic echo /tdk_robokit_icm4x6xx
• ros2 topic echo /tdk_robokit_ak09918
• ros2 topic echo /tdk_robokit_icp10101
• ros2 topic echo /tdk_robokit_ads7052
• ros2 topic echo /tdk_robokit_ch101

HOW TO USE THE DATA IN ROBOTIC APPLICATIONS

1.  Ensure that RoboKit1 is powered on.
2.  Check if the sensor is connected to the RoboKit1 board.
3.  Connect the RoboKit1 board to the ROS2 Host machine.

Note: Sensor data publisher nodes are already provided in the package.

4. Create your own subscriber node for the specific topic.

Note: Subscriber node could be another node that processes data.

5. Start both publisher and subscriber nodes.
6. Use the data from publisher in subscriber node to control the robot.

REVISION HISTORY

This information furnished by InvenSense or its affiliates (“TDK InvenSense”) is believed to be accurate and reliable. However, no responsibility is assumed by TDK InvenSense for its use, or for any infringements of patents or other rights of third parties that may result from its use. Specifications are subject to change without notice. TDK InvenSense reserves the right to make changes to this product, including its circuits and software, in order to improve its design and/or performance, without prior notice. TDK InvenSense makes no warranties, neither expressed nor implied, regarding the information and specifications contained in this document. TDK InvenSense assumes no responsibility for any claims or damages arising from information contained in this document, or from the use of products and services detailed therein. This includes, but is not limited to, claims or damages based on the infringement of patents, copyrights, mask work and/or other intellectual property rights.
Certain intellectual property owned by InvenSense and described in this document is patent protected. No license is granted by implication or otherwise under any patent or patent rights of InvenSense. This publication supersedes and replaces all information previously supplied. Trademarks that are registered trademarks are the property of their respective companies. TDK InvenSense sensors should not be used or sold in the development, storage, production or utilization of any conventional or mass-destructive weapons or for any other weapons or life threatening applications, as well as in any other life critical applications such as medical equipment, transportation, aerospace and nuclear instruments, undersea equipment, power plant equipment, disaster prevention and crime prevention equipment. ©2022 InvenSense. All rights reserved. InvenSense, MotionTracking, MotionProcessing, MotionProcessor, MotionFusion, MotionApps, DMP, AAR, and the InvenSense logo are trademarks of InvenSense, Inc. The TDK logo is a trademark of TDK Corporation. Other company and product names may be trademarks of the respective companies with which they are associated.

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