karry3775/SensorFusion

SensorFusion

Cloning the package

• create an empty workspace in a local directory

$ mkdir -p ~/sensor_fusion_ws/src 
$ cd sensor_fusion_ws
$ catkin_make
$ cd src
$ git clone https://github.com/karry3775/SensorFusion.git

Using the package

• Connect your phone and computer to the same network (Hotspot can be used)
• Enter ip address:5000 to the URL field in PhonePi app
• ip addess could be find using ifconfig command on linux and ipconfig on windows.
• run the following commands

$ roscore
$ rosrun sensor_fusion_pkg sensor_streamer.py

• if the above command gives error then move to the location of this file

$ cd SensorFusion/src/
$ chmod +x sensor_streamer.py

• The above line will make this file executable
• Activate the sensor readings you want on the PhonePi App
• Current implementation only supports Accelerometer, Gyroscope, Magnetometer and Orientation data
• You will see data printed on the terminal from which the following command was run

$ rosrun sensor_fusion_pkg sensor_streamer.py

• Open another terminal and type

rostopic echo \<topic_name>

• This will stream data for the specific topic you want

Topics

• Gyro_topic - Publishes angular rate information from Gyro (TimeStamp, roll rate, pitch rate, yaw rate) (BODY FRAME)
• Accel_topic - Publishes linear acceleration information from Accelerometer (TimeStamp, a_x , a_y, a_z) (BODY FRAME)
• Magneto_topic - Publishes magnetic field information from Magnetometer (TimeStamp, m_x , m_y, m_z) (BODY FRAME)
• Orientation_topic - Publishes some fused orientation provided by the PhonePi App (TimeStamp, roll, pitch, yaw) (GLOBAL FRAME)

Pushing and pulling from the Repo

• Move to your local directory

$ git status

• Above command will let you know the status of the repo and your local directory

$ git pull origin master

• Above command will make sure that your local directory will update with changes that others might have made

$ git add .
$ git commit -m "Descriptory message explaining the nature of the commit"
$ git push origin master

• Above command will update the github repository with the changes you made in the local directory in your computer
• Follow these steps sequentially to prevent improper syncing!