OSCP ROS2 Driver

ROS Architecture Overview

This documentation covers the OSCP ROS2 driver stack, including:

IMU Driver (oscp_imu_ros2)

• Low level serial driver
• ROS IMU Topic publication
• Launch file based configurations

IMU Libraries (oscp_libraries)

• COBS Decoding
• Frame Type Definitions

IMU Messages (oscp_msgs)

• Custom OSCP packet message formats
• Standardized ROS topics
• Stamped with internal clock

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Documentation map

• Install

  Install the ROS 2 package and its dependencies to get started quickly.

• Setup & Config

  Configure the driver, parameters, topics, frames, and communication settings.

• Launch & Usage

  Launch the ROS 2 nodes under different scenarios.

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