OSCP Releases Open-Source ROS 2 Driver for MK2 Inertial Measurement Units

OSCP Unveils Revolutionary ROS 2 Driver for MK2 Inertial Measurement Units

In a remarkable development for indoor robotics, OSCPS Motion Sensing Inc.—known as OSCP—has launched an open-source ROS 2 driver tailored for its MK2 family of inertial measurement units (IMUs). This innovative driver, compatible with the ROS 2 Humble and Jazzy distributions, aims to alleviate integration complexities for developers working on navigation systems in environments where satellite signals are unreliable or unavailable.

OSCP's initiative is particularly significant as robots deployed in warehouses, inspection tunnels, greenhouses, and building interiors often operate without a satellite fix. Instead, navigation relies on wheel odometry combined with inertial measurements. When these systems encounter slipping wheels or variable surface conditions, the critical heading data can become compromised, typically determined by gyroscope output. To address these persistent challenges, OSCP introduced its ROS 2 driver, which is available under the MIT license on their GitHub repository.

Key Features of the ROS 2 Driver

The newly released driver offers seamless communication between the MK2 units and ROS 2 systems, utilizing RS-422 or CAN-FD protocols. It integrates effortlessly into existing navigation stacks by publishing on standard `sensor_msgs` topics, ensuring that developers do not need to undertake intricate custom parsing tasks.

The driver comprises three individual packages: the main node, a library for COBS decoding and frame definitions, and a set of OSCP-specific message types stamped with the units' internal clocks. Configuration is conducted via a straightforward YAML file, with the node providing services for various essential functions such as querying configurations, calibrating stationary bias, zeroing orientation, and conducting magnetometer calibration.

Versatile and Adaptive

The driver supports both Ubuntu 22.04 and 24.04 and allows users to kickstart their projects with the MK2M2 unit, a compact MEMS device measuring 40 by 40 by 25 millimeters and weighing just 75 grams. For more demanding applications, OSCP offers the MK2E2, which features a photonic gyroscope while maintaining MEMS gyroscopes for the X and Y axes. This allows for enhanced performance using the same driver and interfaces.

Kazem Zandi, the founder and CEO of OSCP, emphasizes the importance of user-friendly integration: "The ROS community does not need another sensor with just a datasheet and a serial protocol. It requires a tool that directly contributes reliable data to the existing stacks that developers already use. Our driver ensures integration is not treated as an additional project."

Testing Real-World Applications

To showcase the driver’s effectiveness, OSCP conducted a road test comparing the MK2M2 and MK2E2 units. During a 21-minute drive in downtown Montreal—where satellite signals were unavailable—the MK2E2 was able to achieve a heading accuracy deviation of only 5.7 meters from the true location, while the MK2M2 concluded at a 20.5-meter deviation. Both units demonstrated a minimum bias of 0.5 degrees per hour as per their datasheets. The performance discrepancy was attributed to the advanced Z-axis gyroscope in the MK2E2 unit. The detailed report on this road test can be explored on OSCP's website here.

Future Innovations

Vibration sensitivity in MEMS gyroscopes can introduce bias errors, particularly when robots operate in dynamic environments. OSCP’s photonic gyroscopes, however, do not utilize a proof mass, thus exhibiting greater resilience under vibration and continuous acceleration. The company is currently characterizing the MK2 family performance under various vibration conditions, with results to be released soon.

Moreover, OSCP is developing a prototype named the MK2Z, which integrates a navigation-grade optical gyroscope on the heading axis. This unit promises a typical performance of 0.005 degrees per hour—approximately two orders of magnitude more accurate than its MEMS counterparts. The MK2Z is designed for use in high-demand environments such as mines and tunnels, where enhanced precision becomes crucial.

Open and Accessible

By publishing the driver under the MIT license, OSCP signals its commitment to transparency and community collaboration. Thibaut Gravey, the vice president of products, notes that having accessible source code promotes trust among integrators, who can modify timing, frame publications, and calibration methods according to their specific needs.

Written by Rayan Raad, a robotics engineering intern at OSCP, the driver showcases the capabilities of the next generation of robotics and navigation technology. OSCP will be exhibiting at ROSCon Global in Toronto from September 22 to 24, where attendees can engage with the team at booth 29 and discuss potential integrations.

About OSCP

Founded in 2015 and based in Montreal, OSCPS Motion Sensing Inc. specializes in designing high-precision photonic gyroscopes and inertial measurement units. With a goal of providing tactical-grade accuracy at reduced size, weight, and power compared to traditional systems, OSCP serves clients across various sectors, including space, defense, marine, rail, and robotics. All products are manufactured in Canada and adhere to ITAR regulations.