Test reports for ROS1 version on different sensors

[twdragon]

This issue is dedicated to placing the test reports of the ROS1 version of this driver. All contributors are encouraged to place the test reports they have for this driver on the different Witmotion sensors here. Please link here also the other issues containing test results and experience feedback under the following template:

Tested sensor

<sensor model, case type, connection type> <machine, architecture, CPU, kernel>

List of tested modes

• list or table of tested baudrates,
• frequencies,
• polling rates,

  Maximal duration of stable working (approx.)

  Encountered issues and crashes

ROS2 issue: #15

[twdragon]

WT31N, open-circuit, TTL FTDI FT232 USB converter by Digilent

Intel Core i5-6200U CPU @ 2.30GHz, Mint Linux 22, Ubuntu kernel version 5.4.0, Qt 5.16.5

List of tested modes

(For ordinary test the typical duration is around 5 minutes)	Success	Baudrate	Frequency, Hz	Polling period, ms	Description
:heavy_check_mark:	115200	100	10	Covariance measured on ~15000 acquisitions sensor.log test.bag
:negative_squared_cross_mark:	115200	10	10	Crash, timer fault
:heavy_check_mark:	115200	10	30	Stable, covariation measured on 1500 acquisitions sensor.log
:heavy_check_mark:	9600	100	10	Actual acquisition rate around 20 Hz
:negative_squared_cross_mark:	9600	10	10	Crash, port read failed
:heavy_check_mark:	9600	10	30	Qt memory leak detected ~14 MB, for unknown reason, non-reproducible
:heavy_check_mark:	9600	10	50	Most stable mode

Maximal duration of stable working (approx.)

Around 2 hours

Encountered issues and crashes

Crash due to unstable USB converter connection with polling period less than 15 ms.

witmotionctl-wt31n -b 115200 -i 10 --covariance --log
Opening device /dev/ttyUSB0 at 115200 baud
Creating multithreaded interface for Witmotion WT31N IMU sensor connected to ttyUSB0 at 115200 baud
Running reader thread
Waiting for the first packet acquired...
Opening device "ttyUSB0" at 115200 baud
Instantiating timer at 10 ms
Internal error occurred. Suspending the reader thread. Please check the sensor!
QObject::killTimer: Timers cannot be stopped from another thread
QObject::~QObject: Timers cannot be stopped from another thread
QSocketNotifier: Socket notifiers cannot be enabled or disabled from another thread
Suspending TTL connection, please emit RunPoll() again to proceed!
ERROR: No data acquired during last 3 iterations, please check the baudrate!
Average sensor return rate -nan s

Calculating noise covariance matrices...

Accelerations (total for 0 measurements): 
[   0   0.00000 0.00000
    0.00000 0   0.00000
    0.00000 0.00000 0   ]

Angles (total for 0 measurements): 
[   0   0.00000 0.00000
    0.00000 0   0.00000
    0.00000 0.00000 0.00000 ]

[elpimous]

HWT905 TTL, with original usb adapter

https://www.wit-motion.com/digital-inclinometer/witmotion-hwt905-ttl.html

• UP Xtreme I7 with Intel® Core™ i7-8665UE (up to 4.4 GHz),
• Ubuntu 20.04.4,
• kernel : 5.4.65-rt38+ (RT kernel)
• Ubuntu kernel version 5.4.0,
• Qt 5.12.8

---

TEST PROTOCOLE : visualization under ros/rviz with imu_tool plugin Saving X,Y and Z position, and looking again later, to see presence or drift, moves in angles, or latency.

---

LIST OF TESTS MODE

1/ success : b = 115200, freq = 10hz, pp = 20ms, test duration : 10mn 2/ fail : b = 115200, freq = 10hz, pp = <20ms 3/ success : b = 115200, freq = 200hz, pp = 12ms, test duration : 08 Hours 4/ fail : b = 115200, freq = 200hz, pp = <12ms

[joewong00]

WTGAHRS1 GPS IMU

Manual: https://m.media-amazon.com/images/I/81dW2zuBOeL.pdf Software: https://www.wit-motion.cn/#/witmotion/literature/download?id=1526108478018232321

Machine: Nvidia Jetson Xavier NX, Jetpack 4.6, ARM64 architecture, Ubuntu 18.04 & ROS Melodic

Test Report

Status	Baud Rate	Frequency, Hz	Polling Interval, ms	Description
Success	4800	10	100	Stable
Success	9600	10	100	Stable
Success	57600	50	20	Stable
Success	115200	100	10	Stable
Success	230400	200	5	Stable

Important note:

According to the datasheet, this IMU supports the baudrate of range (4800 to 230400), and a frequency of (0.2Hz to 200Hz), but they need to be set in the windows software, then using the same configurations in the config.yaml file. For example, if set to baudrate 230400 and frequency 200hz in the software, then the same baudrate must be used in the config file. Otherwise, the launch is success but there is no message output.