HEX Imu User Guide
Get Started
We provide linux driver using SocketCAN. It is the recommended way to work with IMU.
If you want, you can also write your own driver reading the docs.
You might want to read the HEX CAN Guide first to get to know how to connect the cables, etc.
Use our driver
Only linux is supported
Connect the can to your computer, via USB-CAN convertor or ETH-CAN convertor. We also have them in stock! No matter what you use, make sure that you can read the can bus using SocketCAN.
| Topic | Msg Type | Description |
|---|---|---|
/imu_data |
sensor_msgs/Imu.msg |
Imu Data |
/magnetic_data |
geometry_msgs/Vector3.msg |
Magnetic field direction |
Get the ROS Driver
- Clone the repo from https://github.com/hexfellow/hex_imu into a workspace
- Run catkin_make or colcon build according to your ROS version
- Read from topics.
Write your own driver
Besides the CANOpenID used, our device also reserves EXT-ID 0x0000000A for future use.
Our device implements the CANOpen protocol. By default, the NodeID is 0x10.
If you don't know CANOpen, here's a nice intro CANOpen Tutorial
EDS file
V1