KVH already available drivers

[traversaro]

There are two ROS driver available for KVH 1750 :

• https://github.com/TRECVT/ros_kvh1750
• https://github.com/RIVeR-Lab/kvh (this also supports CG-5100)

There is a ROS python driver available for an unspecified KVH gyroscope:

• https://github.com/oceansystemslab/kvh_gyroscope

There is a ROS driver for the KVH DSP 3000:

• https://github.com/ros-drivers/kvh_drivers

There is also one orogen driver, again for the KVH 1750 :

• https://github.com/Brazilian-Institute-of-Robotics/drivers-orogen-imu_kvh_1750

My current plan is to check if the code of the first driver (https://github.com/TRECVT/ros_kvh1750) can work also with the KVH 1775, and port the C++ part to a Catkin-free independent library (properly referencing the original driver), and then use that library in the actual YARP device.

[iron76]

👍

[traversaro]

The message of KVH 1750 are bit by bit compatible by the default message of KVH 1775, so the driver should be compatible.
The code needs to be modified if we want to read magnetometers raw data, that uses another type of message of the KVH 1775 .

[traversaro]

Ref:
KVH 1750 Manual : www.kvh.com/ViewAttachment.aspx?guidID=%7BD9E4BCAC-F4B3-4947-BC6E-F276497CBCAA%7D
KVH 1775 Manual : www.kvh.com/ViewAttachment.aspx?guidID=%7B009C3B90-57A8-4AFA-9DAB-F79F2F2B41C6%7D

[traversaro]

First version compiling committed in 0d3f8c0 . This version just reads angular velocity and acceleration, and is not configurable from configuration file. Still needs to be tested.

[traversaro]

We imported the C++ library from https://github.com/TRECVT/ros_kvh1750 , and use that one in a pure CMake proejct with an additional YARP Driver.