OLVX™-IMU-U02X9D-D ​

(software patch > 1215)

Versions ​

Sensor Details ​

The OLVX™-IMU-U02X9D is a IMU sensor designed for use in robotics and other applications that require precise attitude and heading information. It uses a redundant 15 degree-of-freedom (DOF) sensor array, which provides accurate and stable measurements of orientation and angular velocity with a 3-axis gyroscope, 3-axis accelerometer , and 3-axis magnetometer. It furthermore provides air pressure, temperature, humidity and gas detection measurements.

Datasheet ​

Download

Components ​

• 3-axis gyroscope: The IMU module features a 3-axis gyroscope that provides accurate and reliable angular rate data in all three dimensions (x, y, z). This allows you to measure the orientation of the IMU module with respect to a fixed reference frame, and to track the changes in orientation over time.

• 3-axis accelerometer: The IMU module also features a 3-axis accelerometer that provides accurate and reliable acceleration data in all three dimensions (x, y, z). This allows you to measure the linear acceleration of the IMU module with respect to a fixed reference frame, and to track the changes in linear acceleration over time.

• 4-measurements environmental sensor: The barometer is an instrument used to measure atmospheric pressure, the presencewhich is the force exerted by the weight of the atmosphere on a given surface. (Coming soon)

• 3-axis magnetometer: The IMU module also features a 3-axis magnetometer that provides accurate and reliable magnetic field data in all three dimensions (x, y, z). This allows you to measure the magnetic field of the IMU module with respect to a fixed reference frame, and to track the changes in magnetic field over time.

3D Coordinate System ​

Key Features ​

• 9-degree-of-freedom orientation and acceleration measurements
• 4-measurement environmental sensing
• Maximum data rate of 1000 Hz
• Attitude and heading reference system (AHRS)
• Compact and lightweight design
• USB Type-C and Ethernet over USB communication options
• Out-of-the-box ROS1 (via bridge) & ROS2 (native) support

Technical Specifications ​

IMU Noise and Random Walk Parameters ​

Demo ​

Unboxing ​

Setup and Test: ​

1. Follow the Quick Start Guide for Olive Robotics robot modules to connect the device and start using it.

2. For more information about the IMU setup and user interface, refer to the demonstration below:

3. When the IMU module is correctly connected to your system, you can check that the expected ros topics are present. On your host PC run:

   ros2 topic list

   ros2 topic list

   The following ROS topics showed be shown:

   /olive/imu/id01/filtered_ahrs
   /olive/imu/id01/filtered_imu
   /olive/imu/id01/led
   /olive/imu/id01/linear_accel
   /olive/imu/id01/magnetometer
   /olive/imu/id01/status
   /olive/imu/id01/temperature
   /tf_static

   /olive/imu/id01/filtered_ahrs
   /olive/imu/id01/filtered_imu
   /olive/imu/id01/led
   /olive/imu/id01/linear_accel
   /olive/imu/id01/magnetometer
   /olive/imu/id01/status
   /olive/imu/id01/temperature
   /tf_static

4. All topics shown are publishers, meaning that they publish data to the ROS network. In the command line interface you can verify that they are in fact publishing data using for example:

   ros2 topic echo /olive/imu/id01/filtered_ahrs

   ros2 topic echo /olive/imu/id01/filtered_ahrs

5. Visualize the data using:

   1. Embedded Web Interface (https://docs.olive-robotics.com/software/gui/web_gui.html)

   2. rqt (https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Introducing-Turtlesim/Introducing-Turtlesim.html#install-rqt)

   3. rviz2 (https://github.com/ros2/rviz).

6. Visualize the data and change the parameters like IP, Topic Name, etc using the embedded web interface. You just need to open your browser on your host computer and enter the IP address of the device. If you didn't change the default IP address, then it must be 192.168.7.1.

ROS Topics and Services ​

Topics ​

Services ​

Calibrating the sensor's bias offset values ​

Resetting the sensor's rotation axis ​

The gain effect of the low-pass filter ​

Advanced Settings ​

The device allows certain parameters to be changed at runtime. To get an overview of all changeable parameters use ros2 param list. To change a parameter use ros2 param set /dcm_imu <parameter> <new_value>

IMU Parameters ​

Detailed Parameter Descriptions ​

• filtered_ahrs_publish_rate: Controls how frequently the filtered AHRS data is published, allowing adjustments between 0 and 200 Hz.
• filtered_imu_publish_rate: Dictates the publish rate for raw IMU data, with adjustable rates from 0 to 4000 Hz to match the requirements of different applications.
• filtered_imu_fusion_gain:
  Adjusts the fusion gain for combining sensor data within the IMU, with a scale from 0 to 1 to fine-tune the balance between raw sensor inputs and algorithmically processed outputs.
• tf_publisher:
  When enabled, publishes a transformation frame (tf) specific to the filtered IMU data, useful for applications requiring precise spatial orientation.
• operation_mode:
  Allows users to select the operational mode of the sensors, such as NDOF for absolute orientation with fast magnetic calibration, NDOF_FMC_OFF for absolute orientation without fast magnetic calibration, or IMUPLUS for relative orientation and disabled magnetometer.
• enable_magnetometer_publisher:
  When enabled, this setting activates the publisher for the magnetometer, allowing the transmission of magnetometer data.
• enable_filtered_ahrs_publisher:
  This setting, when enabled, activates the publisher for filtered Attitude and Heading Reference System (AHRS) data.
• enable_filtered_imu_publisher: Enabling this setting will activate the publisher for filtered Inertial Measurement Unit (IMU) data.
• enable_filtered_ahrs_acc_gravity_compensation: This enables gravity compensation for the accelerometer data within the filtered AHRS data, aiding in more accurate orientation calculations.
• ahrs_fusion_rate:
  This setting adjusts the input/output rate of the AHRS data, with a maximum limit of 250 Hz, allowing for faster or slower data processing based on the needs.
• imu_fusion_rate:
  Similar to the AHRS fusion rate, this adjusts the IO rate for the IMU data but with a higher maximum limit of 2500 Hz, accommodating more rapid data processing requirements.
• enable_startup_zero_quaternion: If enabled, this resets the quaternion values to zero upon system startup, useful for calibration or when consistent initial conditions are necessary.
• imu_acc_lowpass_gain:
  This controls the lowpass filter gain applied to the accelerometer data within the IMU, smoothing out noise and fluctuations in the signal.
• imu_gyro_lowpass_gain: This sets the lowpass filter gain for the gyroscope data in the IMU, helping to stabilize and refine the gyro readings.
• ahrs_acc_lowpass_gain: Controls the lowpass filter gain for the accelerometer data specifically within the AHRS system, enhancing stability and accuracy of the orientation data.
• ahrs_gyro_lowpass_gain: Similar to the IMU gyro gain but specifically for the AHRS system, this gain setting helps in refining the gyroscope data for better heading and orientation tracking.
• ahrs_mag_lowpass_gain:
  This setting controls the lowpass filter gain for the magnetometer data within the AHRS, crucial for maintaining accurate magnetic field readings and compensating for external disturbances.

System ​

Parameter GUI ​

RIG Reconfigure ​

The GitHub repository "rig_reconfigure" by teamspatzenhirn is a GUI tool designed for editing ROS 2 parameters at runtime. This tool seems to be specifically aimed at managing and modifying the parameters within ROS 2, a popular robotics middleware framework, providing a graphical interface for ease of use. The repository is public and licensed under the MIT license, indicating open-source availability. The primary programming languages used in the project are C++ and CMake. For more details, you can visit the repository here.

1. Install from apt

sudo apt install ros-humble-rig-reconfigure

sudo apt install ros-humble-rig-reconfigure

3. Run the rig

ros2 run rig_reconfigure rig_reconfigure

ros2 run rig_reconfigure rig_reconfigure

4. It will show your ros2 parameters and you can edit them simply

Advanced setup ​

Olix-OS Real-Time Linux for Robotics ​

Olix-OS Linux is a version of the Linux operating system that is optimized for use on embedded systems, which are small, resource-constrained devices that are used in a wide range of applications such as industrial automation, consumer electronics, and the Internet of Things (IoT).

Olix-OS Linux is typically built using a small subset of the Linux kernel and a minimal set of user-space utilities and libraries. This allows it to run on devices with limited memory and processing power, and it also reduces the size of the operating system, making it more suitable for embedded systems.

Olix-OS Linux can be built using various build systems such as Yocto Project, Buildroot, and OpenEmbedded. These build systems provide pre-configured Linux distributions, which can be customized to suit the specific requirements of the embedded system. They also provide a set of tools for building and managing the Linux system, including the kernel, bootloader, and user-space utilities and libraries.

Olix-OS Linux is also highly configurable, which allows developers to fine-tune the operating system to meet the specific requirements of the embedded system. This includes configuring the kernel and user-space libraries, optimizing the system for performance, and selecting the appropriate drivers and software components.

One of the advantages of using Olix-OS Linux is that it is open-source, which means that developers have access to the source code of the operating system and can modify it to suit their needs. Additionally, embedded Linux has a large and active community of developers, which means that there is a wealth of documentation, support, and development tools available.

Overall, embedded Linux is a versatile and powerful operating system that is well-suited for use on embedded systems. It provides a small footprint and configurability, as well as a large library of pre-built software, making it a popular choice for developers and manufacturers alike.

Config Files ​

Olive config files are located at

/opt/olive/config/current

/opt/olive/config/current

Here, for each component type, you will see a separate folder containing two types of YAML files. The first type is the config files, which are related to startup configurations, and the second type is the param files, which are related to real-time ROS parameter interactions.

Autorun your custom application ​

If you would like to enable autorun behavior for your custom application within the Olive components, you can add the executable command at the end of the app loader script. You can extend the script and add your logic to it.

/usr/bin/olive-app-loader.sh

/usr/bin/olive-app-loader.sh

Restarting Services ​

After ssh in your component, you can start, stop or restart olive dcm services by using this commands.

for eio:

sudo systemctl restart olive-dcm-eio.service

sudo systemctl restart olive-dcm-eio.service

for camera:

sudo systemctl restart olive-dcm-camera.service

sudo systemctl restart olive-dcm-camera.service

for imu:

sudo systemctl restart olive-dcm-imu.service

sudo systemctl restart olive-dcm-imu.service

for servo:

sudo systemctl restart olive-dcm-servo.service

sudo systemctl restart olive-dcm-servo.service

for system:

sudo systemctl restart olive-dcm-system.service

sudo systemctl restart olive-dcm-system.service

for manager:

sudo systemctl restart olive-sys-manager.service

sudo systemctl restart olive-sys-manager.service

for app loader:

sudo systemctl restart olive-app-loader.service

sudo systemctl restart olive-app-loader.service

Firmware Releases ​

How can i see what is my current Software Patch? ​

In the Olive GUI dashboard in the device status group box you can see your current firmware version.

Flashing a New Image with Etcher Software ​

Introduction ​

Etcher is a free and open-source utility used to write image files such as .iso and .img files, as well as zipped folders onto storage media to create live SD cards and USB flash drives. It's widely used to flash OS images for Raspberry Pi, Arduino, and many other applications. Etcher is developed by balena, and it's available for Windows, macOS, and Linux.

Prerequisites ​

• An image file you want to flash, typically with a .iso or .img extension. (unzip the firmware file if it is compressed)
• A USB drive or SD card with enough storage to accommodate the image file. (32 Gb or more)
• A computer with Etcher installed.

Step-by-Step Guide to Flashing an Image with Etcher ​

Step 1: Download and Install Etcher ​

• Navigate to Etcher's official download page.
• Choose the version of Etcher that corresponds to your operating system (Windows/macOS/Linux).
• Download the installer and run it. Follow the on-screen instructions to install Etcher on your system.

Step 2: Prepare Your USB Drive or SD Card ​

• Insert the USB drive or SD card into your computer.
• Ensure that there is no important data on the drive, as the flashing process will erase everything on it.

Step 3: Open Etcher and Select Image ​

• Open Etcher on your computer.
• Click on the “Flash from file” button.
• Navigate to the location where your image file is stored, select it, and click “Open” (or an equivalent, depending on your OS).

Step 4: Select Target ​

• Click on the “Select target” button.
• Choose your USB drive or SD card from the list. Be very careful to select the correct drive, as all data on the drive will be erased.
• Click “Connect” (or equivalent).

Step 5: Flash the Image ​

• Click on the “Flash!” button.
• Etcher will format the drive and write the image file to the USB drive or SD card. This process may take some time, depending on the size of the image file and the speed of the drive.
• Once the flashing process is complete, Etcher will validate the write to ensure it was successful.

Step 6: Eject Safely ​

• Once the flashing process is complete and validated, you can close Etcher.
• Eject the USB drive or SD card safely from your computer.

Step 7: Use the Flashed Drive ​

• You can now use the USB drive or SD card to boot a computer or power a device (such as a Raspberry Pi) depending on the image you flashed.

Troubleshooting Tips ​

• If Etcher fails to flash the image, try using a different USB port or card reader.
• Ensure that the image file is not corrupted. You might re-download the file or check its integrity if possible.
• Make sure your USB drive or SD card has enough space for the image file.
• If you experience persistent issues, consult the Etcher's GitHub repository or community forums for assistance.

Patch Update ​

Releases ​

1) If you are updating a patch for the first on a fresh OlixOS ​

Fist open the update screen on your browser by going to <device_ip>:7070

then browse or drag and drop the (.swu) file olive_one_x.swu to the upload area. Then wait for a minute to software patch updater applies the software patch on your fresh OlixOS.

2) If you are updating a patch on a working OlixOS ​

Fist open the update screen by simply going to <device_ip> then select the Firmware Update from the left panel.

then browse or drag and drop the (.swu) file olive_one_x.swu to the upload area. Then wait for a minute to software patch updater applies the software patch on your current OlixOS.

How can i see what is my current Software Patch? ​

In the Olive GUI dashboard in the device status group box you can see your current software patch version

Environment Variables ​

In Olive components the permanent Environment Variables are located in:

/opt/olive/script/env.sh

In order to add your custom Environment variable you should declare it in this script, for example:

declare -x ROS_DOMAIN_ID="0"

SSH ​

How to log in ​

Logging in to a Linux real-time Olix-OS system using SSH (Secure Shell) is a common method for remotely accessing and managing the system. SSH is a secure protocol that allows you to remotely access the command line of a Linux system over a network connection.

To log in to a Linux real-time Olix-OS system using SSH, you will need a computer or device with an SSH client installed, and the IP address or hostname of the Olix-OS system.

The first step is to open the terminal or command prompt on your computer and type the command ssh olive@<IP_address> or ssh olive@<hostname> and press enter. This will initiate an SSH connection to the Olix-OS system.

Once the connection is established, you will be prompted for the password for the user account olive. You will need to enter the password one and press enter.

After providing the correct credentials, you will be logged in to the Olix-OS system and will have access to the command line interface. You can then issue commands to the Olix-OS system and perform various tasks such as configuring the system, managing files and processes, and monitoring system performance.

It's also important to note that SSH uses encryption to secure the communication between the client and the server, which means that your login credentials and data transmitted during the session will be protected against eavesdropping.

It's also important to mention that, depending on the real-time Olix-OS Linux distribution, the SSH daemon might not be enabled by default. It's recommended to check the system configuration and the usage of ssh service on the Olix-OS Linux before trying to connect to the system.

Network Configuration ​

1) Indipended device connection ​

You can set and update your device IP, netmask and gateway from the device dashboard GUI. More information Here:

Olive GUI Dashboard

2) Multi-Device Interoperability ​

Multi-Device / Servo Daisy Chain ​

When you connect multiple Olive components to your computer, they will appear as several Ethernet devices in your network adapter settings. In this configuration, it's necessary to either set up an internal network bridge or define static routes to ensure all devices are properly connected to your computer and can be pinged.

Daisy chain means you have an Olive servo in your setup and therefore you will need the Olive power spliter too. You can see the example network diagram below. Please note that the Olive camera in the daisy chain will work without automatically but for the IMU you will need to setup the connection manually.

Alternatively, you can daisy-chain multiple servos, adding a camera or IMU at the end of the chain. In daisy chain mode, network bridging is handled automatically, requiring no additional configuration.

In summary, using the daisy chain method results in only one Ethernet device being visible in your network device list, but you can still access and ping all devices in the chain. Conversely, connecting multiple components without daisy-chaining will show multiple devices in your network list. This arrangement typically requires manual setup, involving the creation of a bridge network or the definition of static routes to integrate all Ethernet interfaces connected to Olive components. Follow the relevant procedures to establish this setup.

Solution 1 (Statics Routing) ​

if this is your example network setup:

[imu 1: 10.42.0.7] => [pc interface: 10.42.0.1]
[imu 2: 10.42.0.8] => [pc interface: 10.42.0.2]

[imu 1: 10.42.0.7] => [pc interface: 10.42.0.1]
[imu 2: 10.42.0.8] => [pc interface: 10.42.0.2]

then on your main pc try:

sudo ip route add 10.42.0.7 via 10.42.0.1
sudo ip route add 10.42.0.8 via 10.42.0.2

sudo ip route add 10.42.0.7 via 10.42.0.1
sudo ip route add 10.42.0.8 via 10.42.0.2

Solution 2 (Network Bridge) ​

1. Install the bridge-utils package:

sudo apt install bridge-utils

2. First use the command "ifconfig" to see your current network interfaces:

ifconfig

ifconfig

As you can see in our example we have two Olive devices (enxa80000000001) and (enxa82c8d3c047b). We want to create a single bridge to internally connect this two interfaces and represents them with one ip address.

3. Open the Network Manager connection editor GUI:

nm-connection-editor

click on (+) and select "Bridge" from the list

4. In the Bridge connection Editor add your Olive network interfaces. Each time select "Add" then select "Ethernet"

from the device list select the Olive devices by the interface name or the MAC address. Here (enxa80000000001) and (enxa82c8d3c047b).

Once you done this step you will two interfaces in the list

5. Change the Bridge ip to manual mode and define a static ip like:

It is better to select "10.42.0.x" or better "10.42.0.1" as shown in the picture.

6. Remove extra (old) netwrok connections.

7. Check the bridge connection:

sudo brctl show

This should display the bridge connection status between the Olive components.

8. Test the connection with the "ping" command to ensure eveything is correct. In our case the first component has the ip address "10.42.0.7" and the second one has "10.42.0.8".

Internet Sharing ​

Windows ​

1. First, open the Network Manager and identify your Olive network interface (in this case, "network 39"). Also, identify the interface through which you wish to share the internet (in this context, the WiFi).

2. Next, access the settings of the WiFi network. Navigate to the appropriate tab and select the "Internet Sharing" feature. From the dropdown list, choose the Olive interface (in this instance, "network 39").

3. Once again, open the network settings for the Olive interface. Proceed to the IPv4 configuration and modify the predefined IP to match the default gateway IP of the Olive interface. By default, the gateway value is set to 10.42.0.1.

4. Now, SSH into the Olive component and attempt to ping 8.8.8.8 to verify your internet connection. If successful, you should observe a successful ping response as shown below:

5. If you wish to change the default gateway on the device, follow these commands on the Olive component:

sudo ip route del default #delete the default route
sudo ip route add default via 10.42.0.1 #add the default route

sudo ip route del default #delete the default route
sudo ip route add default via 10.42.0.1 #add the default route

Linux Method 1 (Wi-Fi internet sharing) ​

1. Install Necessary Packages: Before you begin, ensure you have the net-tools and dnsmasq packages installed. These tools will help manage and share the network.

sudo apt update
sudo apt install net-tools dnsmasq

sudo apt update
sudo apt install net-tools dnsmasq

2. Use the following command to list your network interfaces:

ifconfig

ifconfig

3. Use the commands bellow to share your wifi internet (here wlp3s0) with you olive interface (here enxa80000000001). Replace this two interface names according to your wifi and olive interface name.

sudo sysctl -w net.ipv4.ip_forward=1
sudo iptables -t nat -A POSTROUTING -o wlp3s0 -j MASQUERADE
sudo iptables -A FORWARD -i enxa80000000001 -o wlp3s0 -j ACCEPT
sudo apt-get install iptables-persistent

sudo sysctl -w net.ipv4.ip_forward=1
sudo iptables -t nat -A POSTROUTING -o wlp3s0 -j MASQUERADE
sudo iptables -A FORWARD -i enxa80000000001 -o wlp3s0 -j ACCEPT
sudo apt-get install iptables-persistent

4. Verify Internet Sharing: SSH into the Olive component and try pinging an external server to check if the internet connection is shared:

sudo ping 8.8.8.8

sudo ping 8.8.8.8

Linux Method 2 (Lan internet sharing) ​

1. Install Necessary Packages: Before you begin, ensure you have the net-tools and dnsmasq packages installed. These tools will help manage and share the network.

sudo apt update
sudo apt install net-tools dnsmasq

sudo apt update
sudo apt install net-tools dnsmasq

2. Use the following command to list your network interfaces:

ifconfig

ifconfig

3. Configure Network Manager:

• Open the Network Manager GUI.
• Identify your primary internet connection.
• Also, identify the Olive network interface you wish to share the internet with.

4. Set Up Internet Sharing:

• Go to the settings of your primary internet connection.
• Navigate to the "IPv4" tab.
• Choose the "Shared to other computers" option from the "Method" dropdown menu.

5. Restart Network Manager: After making the changes, restart the Network Manager to apply them:

sudo service network-manager restart

sudo service network-manager restart

6. Verify Internet Sharing: SSH into the Olive component and try pinging an external server to check if the internet connection is shared:

sudo ping 8.8.8.8

sudo ping 8.8.8.8

Time Synchronization ​

Network Time Protocol (PTP) ​

Due to limitations in the USB protocol, achieving PTP synchronization is not feasible with our current USB version of the products. However, we are planning to support PTP with our upcoming Ethernet version, expected to launch next year.

Network Time Protocol (NTP) ​

Setting Up NTP Synchronization on Olive Components ​

Adding NTP Server IP:

1. Access the GUI: Log into your Olive component's GUI.
2. Configure NTP Settings: Find the network or time settings and enter the IP of your NTP server.
3. Save and Reboot: Apply changes and reboot the component.
4. Verify Time: Open a terminal,ssh to Olive, type date, and check the time sync.
5. Deep Verify: ntpq -p

olive@robotics:~$ ntpq -p
     remote           refid      st t when poll reach   delay   offset  jitter
==============================================================================
 0.debian.pool.n .POOL.          16 p    -   64    0    0.000   +0.000   0.002
 1.debian.pool.n .POOL.          16 p    -   64    0    0.000   +0.000   0.002
 2.debian.pool.n .POOL.          16 p    -   64    0    0.000   +0.000   0.002
 3.debian.pool.n .POOL.          16 p    -   64    0    0.000   +0.000   0.002
*192.168.7.100   79.133.44.138    2 u  172  256  377    0.294   -5.920   1.859

olive@robotics:~$ ntpq -p
     remote           refid      st t when poll reach   delay   offset  jitter
==============================================================================
 0.debian.pool.n .POOL.          16 p    -   64    0    0.000   +0.000   0.002
 1.debian.pool.n .POOL.          16 p    -   64    0    0.000   +0.000   0.002
 2.debian.pool.n .POOL.          16 p    -   64    0    0.000   +0.000   0.002
 3.debian.pool.n .POOL.          16 p    -   64    0    0.000   +0.000   0.002
*192.168.7.100   79.133.44.138    2 u  172  256  377    0.294   -5.920   1.859

Installing an NTP Server on Your Host Computer ​

For Linux:

1. Install NTP: Run sudo apt-get update && sudo apt-get install ntp.
2. Edit Config: Modify /etc/ntp.conf to add public NTP server entries.
3. Restart NTP: Execute sudo systemctl restart ntp.

For Windows:

1. Enable NTP Server: Go to Internet Time settings in the Control Panel, set up synchronization with a server from pool.ntp.org, and click Update now.

Note: Ensure UDP port 123 is open in your firewall for NTP traffic.

That's it! Your Olive system should now be synchronizing its time with the predefined NTP server.

Reset Factory ​

To perform a factory reset on your Olive device, press and hold the reset button for more than 10 seconds. During this time, the LEDs will start blinking between 6 to 10 seconds as a warning. If you continue holding the button, the LEDs will turn solid, indicating the initiation of the factory reset process. This will restore the device to its default settings, create a reset trigger, roll back to a stable software update, and then reboot the device.

For a safe shutdown without a factory reset, hold the button for 2 to 6 seconds.

Olive Component Reset Instructions Summary ​

Reset Factory Procedure Demonstrations ​

​

General Example (IMU-U01X09D) ​

​

General Example (IMU-U02X09D) ​

​

Data Distribution Service (DDS) Middlewares ​

Supported DDS implimentations ​

1. Fast DDS (formerly Fast RTPS) ​

The default DDS implementation for most ROS2 distributions.

• Repository: https://github.com/eProsima/Fast-DDS
• RMW package: rmw_fastrtps_cpp

Example Configuration for Fast DDS on Olive Device ​

This configuration is maintained automatically in the system, and you don't need to change it. However, it's useful to be familiar with it. If desired, you can extend this configuration to your host computer as well. This becomes handy when you wish to modify the buffer size or blacklist certain network interfaces that you don't want to use in ROS2.

The configuraiton is located in

/opt/olive/config/current/fastdds.xml

/opt/olive/config/current/fastdds.xml

<?xml version="1.0" encoding="UTF-8" ?>
<dds>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">

    <transport_descriptors>
        <transport_descriptor>
            <transport_id>udp_config</transport_id>
            <type>UDPv4</type>
            <interfaceWhiteList>
                <address>192.168.7.1</address>
            </interfaceWhiteList>
            <sendBufferSize>4259840</sendBufferSize>
            <receiveBufferSize>4259840</receiveBufferSize>
        </transport_descriptor>
    </transport_descriptors>

    <participant profile_name="participant_xml_profile_qos_socketbuffers" is_default_profile="true">
        <rtps>
            <userTransports>
                <transport_id>udp_config</transport_id>
            </userTransports>
            <!-- Buffer sizes, has big effect on performance.
                 * Values
                   * Maximum set on boot: 2147483647 ~ 20MB,
                   * 4259840 ~ 4MB.
                   * 2129920 ~ 2MB - performance similar to 4MB
                   * 1048576 ~ 1MB - worse performance
                 * For some reason, setting the largest value decreases performance.
                 * Make sure to match the transport_descriptor values
             -->
            <!-- See comments in jetson.xml -->
            <sendSocketBufferSize>4259840</sendSocketBufferSize>
            <listenSocketBufferSize>4259840</listenSocketBufferSize><!-- Maximum set on boot: 2147483647, moderate is 2129920 -->
            <useBuiltinTransports>false</useBuiltinTransports>
        </rtps>
    </participant>

</profiles>
</dds>

<?xml version="1.0" encoding="UTF-8" ?>
<dds>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">

    <transport_descriptors>
        <transport_descriptor>
            <transport_id>udp_config</transport_id>
            <type>UDPv4</type>
            <interfaceWhiteList>
                <address>192.168.7.1</address>
            </interfaceWhiteList>
            <sendBufferSize>4259840</sendBufferSize>
            <receiveBufferSize>4259840</receiveBufferSize>
        </transport_descriptor>
    </transport_descriptors>

    <participant profile_name="participant_xml_profile_qos_socketbuffers" is_default_profile="true">
        <rtps>
            <userTransports>
                <transport_id>udp_config</transport_id>
            </userTransports>
            <!-- Buffer sizes, has big effect on performance.
                 * Values
                   * Maximum set on boot: 2147483647 ~ 20MB,
                   * 4259840 ~ 4MB.
                   * 2129920 ~ 2MB - performance similar to 4MB
                   * 1048576 ~ 1MB - worse performance
                 * For some reason, setting the largest value decreases performance.
                 * Make sure to match the transport_descriptor values
             -->
            <!-- See comments in jetson.xml -->
            <sendSocketBufferSize>4259840</sendSocketBufferSize>
            <listenSocketBufferSize>4259840</listenSocketBufferSize><!-- Maximum set on boot: 2147483647, moderate is 2129920 -->
            <useBuiltinTransports>false</useBuiltinTransports>
        </rtps>
    </participant>

</profiles>
</dds>

2. Cyclone DDS ​

A lightweight, high-performance DDS implementation by Eclipse Foundation.

• Repository: https://github.com/eclipse-cyclonedds/cyclonedds
• RMW package: rmw_cyclonedds_cpp

These are the most common DDS implementations used in ROS2. To switch between them, follow the instructions from the previous answer to set the RMW_IMPLEMENTATION environment variable to the desired RMW package.

The following ROS2 DDS implementations are available and open-source for ROS2 which you can change it acording to your need:

How to change DDS middleware on the Olive device? ​

The default DDS implementation on Olive components are Fast DDS. However Cyclone DDS is also supported. You can change the middleware implementation using the GUI:

How to change ROS2 DDS implementation to Cyclone DDS for the host computer? ​

Follow these steps to change the ROS2 DDS implementation to Cyclone DDS:

1. Install Cyclone DDS ​

First, make sure that Cyclone DDS is installed on your system. You can install it using the following commands for different platforms:

• Ubuntu:

sudo apt update
sudo apt install ros-humble-rmw-cyclonedds-cpp

sudo apt update
sudo apt install ros-humble-rmw-cyclonedds-cpp

• macOS, Windows, or building from source:

Please refer to the official Cyclone DDS installation instructions at https://github.com/eclipse-cyclonedds/cyclonedds/blob/master/INSTALL.md

2. Set Cyclone DDS as the default DDS implementation ​

You can change the default DDS implementation by setting the RMW_IMPLEMENTATION environment variable. You can do this either temporarily or permanently.

• Temporarily (for the current terminal session):

• Bash (Linux and macOS):

  export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

  export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

• PowerShell (Windows):

  $env:RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"

  $env:RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"

After setting the variable, you can run your ROS2 nodes in the same terminal, and they will use Cyclone DDS.

• Permanently:

To make the change permanent, add the corresponding export or $env command to your shell configuration file. For Bash, this is typically .bashrc or .bash_profile (Linux) or .bash_profile (macOS). For PowerShell, this is typically the $PROFILE script.

How to Verify the change? ​

To ensure that your ROS2 nodes are using Cyclone DDS, you can run the following command:

ros2 doctor --report

ros2 doctor --report

Look for the "middleware" section in the report. It should show "rmw_cyclonedds_cpp" as the active middleware.

That's it! Now your ROS2 system is using Cyclone DDS as the default DDS implementation.

Example Configuration for Cyclone DDS on the host computer ​

Then you need to add a variable in your .bashrc to define the location of your cyclone dds config. You need to tell where your cyclonedds.xml is located.

export CYCLONEDDS_URI="/home/[username]/cyclonedds.xml"

export CYCLONEDDS_URI="/home/[username]/cyclonedds.xml"

then you need to stop and start the ros2 daemon.

ros2 daemon stop
ros2 daemon start

ros2 daemon stop
ros2 daemon start

Put this configuration in your host computers cyclonedds.xml.

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
    <Domain Id="any">
        <General>
            <Interfaces>
                <NetworkInterface address="10.42.0.1" priority="default" multicast="default" />
            </Interfaces>
            <AllowMulticast>default</AllowMulticast>
            <MaxMessageSize>65500B</MaxMessageSize>
        </General>
        <Tracing>
            <Verbosity>finest</Verbosity>
            <OutputFile>cyclonedds.log</OutputFile>
        </Tracing>
    </Domain>
</CycloneDDS>

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
    <Domain Id="any">
        <General>
            <Interfaces>
                <NetworkInterface address="10.42.0.1" priority="default" multicast="default" />
            </Interfaces>
            <AllowMulticast>default</AllowMulticast>
            <MaxMessageSize>65500B</MaxMessageSize>
        </General>
        <Tracing>
            <Verbosity>finest</Verbosity>
            <OutputFile>cyclonedds.log</OutputFile>
        </Tracing>
    </Domain>
</CycloneDDS>

Downloads (OLVX™-IMU-U01-9D) ​

Downloads (OLVX™-IMU-U02-9D) ​

Mechanical Details ​

(OLVX™-IMU-U01-9D) ​

(OLVX™-IMU-U02-9D) ​