#Canada #Montreal #OSCP #MK2 #ROS 2

OSCP Releases Open Source ROS 2 Driver for MK2 Inertial Systems

In a significant advancement for indoor robotics, OSCPS Motion Sensing Inc., known as OSCP, has announced the release of an open-source ROS 2 driver tailored for its MK2 family of inertial sensors. This move aims to enhance the navigation capabilities of indoor robots, which often operate in environments devoid of GNSS signals such as warehouses, inspection tunnels, and greenhouses.

Outdoor robots have always relied on satellite connections for navigation, but for indoor applications, the reliance on Global Navigation Satellite Systems (GNSS) is virtually non-existent. In such settings, robots depend solely on odometry and inertial measurement systems to navigate the space. If a robot’s wheels slip or the terrain changes, it can lose its orientation, leading to navigation errors that the gyroscope must then address.

The open-source ROS 2 driver released by OSCP is now available under the MIT license on GitHub. Users can access the documentation at docs.oscp.com. With its robust capabilities, the driver connects MK2 devices to ROS 2 systems via RS-422 or CAN-FD, streaming data over standard “sensor_msgs” topics. This means existing navigation stacks can seamlessly integrate this data without needing additional parsing, simplifying the development process for robotics engineers.

The driver package includes several components: the core node itself, a library for COBS decoding, and definitions for frame types, all of which are timestamped using the device's internal clock. Configuration is further supported through a YAML file, enabling services for querying settings, calibrating stationary offsets, performing zero point and alignment calibrations, and conducting magnetometer calibration.

It’s compatible with ROS 2 Humble and Jazzy on Ubuntu versions 22.04 and 24.04, offering developers flexibility in integrating their solutions. The MK2M2, which contains a MEMS sensor measuring 40 × 40 × 25 millimeters, weighing only 75 grams with a power consumption of just 1.2 watts, is suitable for various robotic applications. Conversely, for users requiring enhanced performance, the MK2E2 replaces the MEMS gyroscope on the Z-axis with a photonic gyroscope, maintaining MEMS sensors on the X and Y axes. Both systems utilize the same driver and interfaces, promoting ease of use across product lines.

Kazem Zandi, the CEO and founder of OSCP, emphasized the community’s need for efficient sensors that deliver accurate data without the complications of complex protocols and documents. “The ROS community doesn’t require another sensor that comes with a datasheet and a serial protocol. What they need is a reliable means to transmit clean data into the existing infrastructure,” Zandi explained. He further elaborated on the driver’s design, which eliminates the need for additional standalone projects to integrate sensors into their systems.

Real-world testing has demonstrated the efficacy of these sensors. During a trial involving a 21-minute drive through downtown Montreal without satellite support—relying solely on the gyroscope—the MK2E2 arrived within 5.7 meters of the correct location. Meanwhile, the MK2M2, under identical conditions, ended up 20.5 meters away. Both devices showed the same minimum drift rate of 0.5 degrees per hour, despite the differences in gyroscope technology.

Additionally, OSCP highlighted the significance of addressing vibration issues in gyroscope performance. MEMS gyroscopes tend to be sensitive to g-forces, which can lead to increased bias errors during vibrations and continuous acceleration—common in scenarios involving legged platforms or vehicles traversing uneven terrain. In contrast, photonic gyroscopes do not possess any moving components prone to oscillation. Currently, OSCP is conducting further vibration tests on MK2 devices with results expected to be published soon.

For applications requiring long-term navigation without corrections, OSCP is developing the MK2Z prototype equipped with a high-quality optical gyroscope, which boasts a typical drift rate of merely 0.005 degrees per hour—significantly better than the aforementioned MEMS gyroscope. Although the MK2Z is larger and weighs 475 grams with a power consumption of 4.5 watts, it operates with the same driver and interfaces, making it suitable for various challenging environments such as mines, tunnels, underwater vehicles, and expansive indoor areas.

“This driver is published under MIT because an unreadable driver is an unreliable driver,” said Thibaut Gravey, Vice President of Product Development. He added that integrators change timing and calibration frameworks, and having the source readily available simplifies these processes immensely.

The MK2 devices, developed and manufactured in Montreal, will be showcased at ROSCon Global, taking place from September 22-24 at the Sheraton Centre Toronto, where OSCP will have a booth (stand 29) to offer integration consultations. Those interested in scheduling a meeting can reach out via [email protected].

About OSCP

OSCPS Motion Sensing Inc. specializes in the development and manufacture of photonic gyroscopes and inertial measurement units. Established in 2015 and headquartered in Montreal, Quebec, the company focuses on providing high-precision sensors that operate at a tactical level while being compact, lightweight, and energy-efficient compared to traditional optical gyroscopes. These sensors are crucial for navigation in settings where GNSS signals are compromised or unavailable. OSCP's clientele spans the aerospace, defense, maritime, underwater engineering, rail transport, robotics, and autonomous ground system sectors. All of OSCP's products are manufactured in Canada and do not fall under ITAR regulations.