shazib2t commented 12 months 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 12 months 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 12 months 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 12 months 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