its not working for WT901BLECL5.0

[Nareshkumar-g]

The sensor is connecting but its not outputting the data, This is the error msg, i got setting /run_id to ecf24ac8-090a-11ee-a325-0242c6588c83 process[rosout-1]: started with pid [8024] started core service [/rosout] process[witmotion_imu-2]: started with pid [8052] Opening device "ttyUSB2" at 115200 baud [ INFO] [1686565304.837663888]: Initiating RTC pre-synchonization: current timestamp 2023-06-12T15:51:44.837 Instantiating timer at 50 ms [ INFO] [1686565304.842992995]: Configuration ROM: lock removal started Configuration task detected, 1 commands in list, configuring sensor... Sending configuration packet 0x69 Configuration packet sent, flushing buffers... Configuration completed Configuration task detected, 1 commands in list, configuring sensor... Sending configuration packet 0x33 Configuration packet sent, flushing buffers... Configuration completed Configuration task detected, 1 commands in list, configuring sensor... Sending configuration packet 0x32 Configuration packet sent, flushing buffers... Configuration completed Configuration task detected, 1 commands in list, configuring sensor... Sending configuration packet 0x31 Configuration packet sent, flushing buffers... Configuration completed Configuration task detected, 1 commands in list, configuring sensor... Sending configuration packet 0x30 Configuration packet sent, flushing buffers... Configuration completed [ INFO] [1686565309.844640790]: RTC pre-synchonization completed, saving configuration Configuration task detected, 1 commands in list, configuring sensor... Sending configuration packet 0x0 Configuration packet sent, flushing buffers... Configuration completed [ INFO] [1686565310.845034193]: RTC synchronized [ERROR] [1686565310.845576275]: Sensor error: No data acquired during last 3 iterations, please check the baudrate! [ INFO] [1686565310.845784884]: Entering SUSPENDED state 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] [1686565310.847763963]: Sensor error: No data acquired during last 3 iterations, please check the baudrate! [ INFO] [1686565310.847867035]: Entering SUSPENDED state Suspending TTL connection, please emit RunPoll() again to proceed! [ERROR] [1686565310.848724190]: Sensor error: No data acquired during last 3 iterations, please check the baudrate! [ INFO] [1686565310.848851647]: Entering SUSPENDED state Suspending TTL connection, please emit RunPoll() again to proceed! [ERROR] [1686565310.849020799]: Sensor error: No data acquired during last 3 iterations, please check the baudrate! [ INFO] [1686565310.849107072]: Entering SUSPENDED state Suspending TTL connection, please emit RunPoll() again to proceed!

[twdragon]

What is an actual baudrate you have set up on the sensor? Could you access it and enumerate the messages with message-enumerator utility?

[Nareshkumar-g]

The baudrate i set is 115200 as per the data sheet.

[twdragon]

Yes, but was it set up also on the sensor? Can you see the data with this baudrate from another application? Did you try another values?

[Nareshkumar-g]

Yeah sensor is working fine, i tries with the witmotion app provided by the manufacturer, its working well, Does this package support WT901BLECL 5.0 IMU Sensor ?

[twdragon]

@Nareshkumar-g It depends on whether the sensor:

• drops the data formatted by the Witmotion 11-byte communication protocol
• The connection settings are set up properly

Please check the exact connection settings on your Witmotion controller application. It is a chance that you have wrongly set baudrate there, so the sensor remembers it and it is actually works not on 115200 baud.

[SunilSrivatsav9]

I have the same issue. Initially I got the below error

Environment: Ubuntu 20.04 ROS Noetic IMU HW905-RS485

*** Error 1 ** Opening device "ttyUSB0" at 9600 baud [ INFO] [1686612884.631942076]: Initiating RTC pre-synchonization: current timestamp 2023-06-13T08:34:44.631 [ INFO] [1686612884.632297483]: Configuration ROM: lock removal started [ INFO] [1686612889.634066069]: RTC pre-synchonization completed, saving configuration [ INFO] [1686612890.634352841]: RTC synchronized [ERROR] [1686612890.634802042]: Sensor error: Error opening the port! [ INFO] [1686612890.634899953]: Entering SUSPENDED state Suspending TTL connection, please emit RunPoll() again to proceed!

I have tried to change the USB access permissions using the following command sudo chmod a+rw /dev/ttyUSB0

Then I got the following error: **** Error 2 *** process[witmotion_imu-1]: started with pid [11572] Opening device "ttyUSB0" at 9600 baud [ INFO] [1686614065.787490338]: Initiating RTC pre-synchonization: current timestamp 2023-06-13T08:54:25.787 [ INFO] [1686614065.787867738]: Configuration ROM: lock removal started Instantiating timer at 50 ms Configuration task detected, 1 commands in list, configuring sensor... Sending configuration packet 0x69 Configuration packet sent, flushing buffers... Configuration completed Configuration task detected, 1 commands in list, configuring sensor... Sending configuration packet 0x33 Configuration packet sent, flushing buffers... Configuration completed Configuration task detected, 1 commands in list, configuring sensor... Sending configuration packet 0x32 Configuration packet sent, flushing buffers... Configuration completed Configuration task detected, 1 commands in list, configuring sensor... Sending configuration packet 0x31 Configuration packet sent, flushing buffers... Configuration completed Configuration task detected, 1 commands in list, configuring sensor... Sending configuration packet 0x30 Configuration packet sent, flushing buffers... Configuration completed [ INFO] [1686614070.789366009]: RTC pre-synchonization completed, saving configuration Configuration task detected, 1 commands in list, configuring sensor... Sending configuration packet 0x0 Configuration packet sent, flushing buffers... Configuration completed [ INFO] [1686614071.789645050]: RTC synchronized [ERROR] [1686614071.790033951]: Sensor error: No data acquired during last 3 iterations, please check the baudrate! [ INFO] [1686614071.790075629]: Entering SUSPENDED state 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] [1686614071.790718832]: Sensor error: No data acquired during last 3 iterations, please check the baudrate! [ INFO] [1686614071.790753356]: Entering SUSPENDED state Suspending TTL connection, please emit RunPoll() again to proceed! [ERROR] [1686614071.790782941]: Sensor error: No data acquired during last 3 iterations, please check the baudrate! [ INFO] [1686614071.790816132]: Entering SUSPENDED state Suspending TTL connection, please emit RunPoll() again to proceed! [ERROR] [1686614071.790884519]: Sensor error: No data acquired during last 3 iterations, please check the baudrate! [ INFO] [1686614071.790927138]: Entering SUSPENDED state Suspending TTL connection, please emit RunPoll() again to proceed! [ERROR] [1686614071.790955150]: Sensor error: No data acquired during last 3 iterations, please check the baudrate! [ INFO] [1686614071.790981289]: Entering SUSPENDED state Suspending TTL connection, please emit RunPoll() again to proceed! [ERROR] [1686614071.791038104]: Sensor error: No data acquired during last 3 iterations, please check the baudrate! [ INFO] [1686614071.791067439]: Entering SUSPENDED state Suspending TTL connection, please emit RunPoll() again to proceed! [ERROR] [1686614071.791111340]: Sensor error: No data acquired during last 3 iterations, please check the baudrate! [ INFO] [1686614071.791137008]: Entering SUSPENDED state Suspending TTL connection, please emit RunPoll() again to proceed!

[twdragon]

The timeout parameter will be added soon. Now the question is the baudrate, we should ensure the value the sensor remembers by itself

[Nareshkumar-g]

@twdragon, I checked the baudrate from the application its 115200.

[twdragon]

@Nareshkumar-g then:

• Ensure the username of the system user is in dialout group
• Try to run message-enumerator to determine on which virtual filesystem name the device drops the data

If you share the output of message-enumerator's output we will see what is not working properly

[SunilSrivatsav9]

I have checked with different baud rates and polling interval. But still the problem remains same. I have also tried using message-enumerator.

Output of the message enumerator

Press Ctrl+C to stop enumeration and see the report Opening device "ttyUSB0" at 9600 baud Instantiating timer at 50 ms ERROR: No data acquired during last 3 iterations, please check the baudrate! Closing TTL connection

WITMOTION UART MESSAGE ENUMERATOR BY TWDRAGON

Acquired at 2023년 6월 13일 화요일 오후 4시 35분 32초 KST

ID Qty Description

Unknown IDs: 0 [  ] 

Total messages: 0

[twdragon]

@SunilSrivatsav9 the output is for 9600 baud. Is it the same for 115200 and the other rates?

[SunilSrivatsav9]

Yes its the same for all values. I feel the issue is with interface (HW905- RS485)

[twdragon]

@SunilSrivatsav9 It is totally different serial interface. What is the converter you use to access it from Linux?

[SunilSrivatsav9]

@twdragon I am not using any driver. I directly connected the USB-SERIAL CH340 convertor to the system. I just checked the port using ls /dev/ttyUSB* and gave the root permissions to the port. Its working using windows SDK, but its unable to receive data with Ubuntu ( ROS ).

[SunilSrivatsav9]

Below are the Parameters from Windows SDK

[twdragon]

@SunilSrivatsav9 it seems your device got 9600 baud. Can you see anything connecting to the corresponding port via Linux on minicom with this baudrate?

[SunilSrivatsav9]

I was successful in using the given link https://github.com/WITMOTION/WitStandardModbus_WT901C485 Since I am using RS485 communication, using Modbus protocol as mentioned in the above package helped in solving the issue. Thank you so much @twdragon for immediate responses