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OSCP ROS2 Driver

oscp_ros2_driver is a custom driver that integrates OSCP IMU Products with ROS 2. It parses the OSCP data stream and publishes it on standard sensor_msgs topics for use by the wider ROS 2 ecosystem as well as custom messages, and includes serial communication handling along with sample launch files and parameter configurations for common setups.

https://github.com/OSCPS/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

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.

  • Services

    Interact with the driver's ROS 2 services for calibration, orientation, and device control.

  • Debugging

    Troubleshoot message output and general ROS 2 issues.