shazib2t commented 1 year ago

I was able to run the wit-motion imu roslaunch file and it seems to connect as shown below, but I do not see the /imu data in the ros topic.

$ roslaunch witmotion_ros wt901.launch ... logging to /home/aro/.ros/log/5d613466-638a-11ee-b39d-efb92b729d2e/roslaunch-aro-15176.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://aro:42723/

SUMMARY

PARAMETERS

/rosdistro: noetic
/rosversion: 1.15.15
/witmotion_imu/altimeter_publisher/addition: 0.0
/witmotion_imu/altimeter_publisher/coefficient: 1.0
/witmotion_imu/altimeter_publisher/enabled: False
/witmotion_imu/altimeter_publisher/topic_name: /altitude
/witmotion_imu/barometer_publisher/addition: 0.0
/witmotion_imu/barometer_publisher/coefficient: 1.0
/witmotion_imu/barometer_publisher/enabled: False
/witmotion_imu/barometer_publisher/frame_id: base_link
/witmotion_imu/barometer_publisher/topic_name: /barometer
/witmotion_imu/barometer_publisher/variance: 0.001
/witmotion_imu/baud_rate: 115200
/witmotion_imu/gps_publisher/enabled: False
/witmotion_imu/gps_publisher/ground_speed_topic_name: /gps_ground_speed
/witmotion_imu/gps_publisher/navsat_altitude_topic_name: /gps_altitude
/witmotion_imu/gps_publisher/navsat_fix_frame_id: world
/witmotion_imu/gps_publisher/navsat_fix_topic_name: /gps
/witmotion_imu/gps_publisher/navsat_satellites_topic_name: /gps_satellites
/witmotion_imu/gps_publisher/navsat_variance_topic_name: /gps_variance
/witmotion_imu/imu_publisher/frame_id: imu
/witmotion_imu/imu_publisher/measurements/acceleration/covariance: [0.0364, 0, 0, 0,...
/witmotion_imu/imu_publisher/measurements/acceleration/enabled: True
/witmotion_imu/imu_publisher/measurements/angular_velocity/covariance: [0.0663, 0, 0, 0,...
/witmotion_imu/imu_publisher/measurements/angular_velocity/enabled: True
/witmotion_imu/imu_publisher/measurements/orientation/covariance: [0.0479, 0, 0, 0,...
/witmotion_imu/imu_publisher/measurements/orientation/enabled: True
/witmotion_imu/imu_publisher/topic_name: /imu
/witmotion_imu/imu_publisher/use_native_orientation: True
/witmotion_imu/magnetometer_publisher/addition: 0.0
/witmotion_imu/magnetometer_publisher/coefficient: 1e-08
/witmotion_imu/magnetometer_publisher/covariance: [1.87123e-07, 0, ...
/witmotion_imu/magnetometer_publisher/enabled: True
/witmotion_imu/magnetometer_publisher/frame_id: compass
/witmotion_imu/magnetometer_publisher/topic_name: /magnetometer
/witmotion_imu/orientation_publisher/enabled: True
/witmotion_imu/orientation_publisher/topic_name: /orientation
/witmotion_imu/polling_interval: 10
/witmotion_imu/port: ttyUSB0
/witmotion_imu/restart_service_name: /restart_imu
/witmotion_imu/rtc_publisher/enabled: False
/witmotion_imu/rtc_publisher/topic_name: /witmotion_clock
/witmotion_imu/temperature_publisher/addition: 0.0
/witmotion_imu/temperature_publisher/coefficient: 1.0
/witmotion_imu/temperature_publisher/enabled: True
/witmotion_imu/temperature_publisher/frame_id: base_link
/witmotion_imu/temperature_publisher/from_message: magnetometer
/witmotion_imu/temperature_publisher/topic_name: /temperature
/witmotion_imu/temperature_publisher/variance: 0.01829
/witmotion_imu/timeout_ms: 150

NODES / witmotion_imu (witmotion_ros/witmotion_ros_node)

ROS_MASTER_URI=http://localhost:11311

process[witmotion_imu-1]: started with pid [15225] Opening device "ttyUSB0" at 115200 baud Instantiating timer at 10 ms

** when I am trying to see the /imu topic it does not give any data.

NEED HELP on this

twdragon commented 1 year ago

/witmotion_imu/imu_publisher/use_native_orientation: True

Try to set this parameter to false, because if your IMU does not produce quaternions, it will not show any data with this parameter turned true

shazib2t commented 1 year ago

@twdragon That solves the problem, but when I am configuring the witmotion.yaml file with 115200 baud it works. I noticed the use_native_orientation: false is set to false there now as well. Thanks for quick reply. Really appreciate it.

twdragon commented 1 year ago

Thanks! This is an easy case also described here https://wiki.ros.org/witmotion_ros/Troubleshooting

ElettraSciComp / witmotion_IMU_ros

BWT901CL imu not showing any data #32

SUMMARY