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ElettraSciComp / witmotion_IMU_ros

ROS wrapper for the family of IMU sensor devices manufactured by Witmotion Ltd.
MIT License
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WT901C-485 is not working in ros2 humble #34

Closed its-seon closed 6 months ago

its-seon commented 7 months ago

Hi i have a problem about WT901C-485.

Environment: Ubuntu 20.04 ROS2 Humble with docker IMU WT901C-485

When i run ros2 launch witmotion_ros wt901_launch.py, i get under the error. root@ubuntu-950XDA:~/home/colcon_ws# ros2 launch witmotion_ros wt901_launch.py [INFO] [launch]: All log files can be found below /root/.ros/log/2023-11-13-04-39-00-217161-ubuntu-950XDA-28525 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [witmotion_ros_node-1]: process started with pid [28526] [witmotion_ros_node-1] [INFO] [1699850340.261470118] [ROSWitmotionSensorController]: Controller started [witmotion_ros_node-1] [INFO] [1699850340.261552591] [MinimalPublisher]: QT spin !!!!! [witmotion_ros_node-1] [ERROR] [1699850340.420747476] [ROSWitmotionSensorController]: Sensor error: Timed out waiting for data, please check device connection and baudrate! [witmotion_ros_node-1] [INFO] [1699850340.420804741] [ROSWitmotionSensorController]: Entering SUSPENDED state [witmotion_ros_node-1] QObject::killTimer: Timers cannot be stopped from another thread [witmotion_ros_node-1] QObject::~QObject: Timers cannot be stopped from another thread [witmotion_ros_node-1] QSocketNotifier: Socket notifiers cannot be enabled or disabled from another thread [ERROR] [witmotion_ros_node-1]: process has died [pid 28526, exit code -11, cmd '/root/home/colcon_ws/install/witmotion_ros/lib/witmotion_ros/witmotion_ros_node --ros-args --params-file /root/home/colcon_ws/install/witmotion_ros/share/witmotion_ros/config/wt901.yml'].

wt901.yml show under the contents. witmotion: ros__parameters: port: ttyUSB0 baud_rate: 115200 # baud polling_interval: 50 # ms timeout_ms: 150 # ms restart_service_name: /restart_imu imu_publisher: topic_name: /imu frame_id: imu use_native_orientation: true measurements: acceleration: enabled: true covariance: [0.0364, 0.0, 0.0, 0.0, 0.0048, 0.0, 0.0, 0.0, 0.0796] angular_velocity: enabled: true covariance: [0.0663, 0.0, 0.0, 0.0, 0.1453, 0.0, 0.0, 0.0, 0.0378] orientation: enabled: true covariance: [0.0479, 0.0, 0.0, 0.0, 0.0207, 0.0, 0.0, 0.0, 0.0041] temperature_publisher: enabled: true topic_name: /temperature frame_id: base_link from_message: magnetometer # acceleration, angular_vel, orientation, magnetometer variance: 0.01829 coefficient: 1.0 # Linear calibration parameters: coefficient addition: 0.0 # and addendum magnetometer_publisher: enabled: true topic_name: /magnetometer frame_id: compass coefficient: 0.00000001 # Linear calibration parameters: coefficient addition: 0.0 # and addendum covariance: [0.000000187123, 0.0, 0.0, 0.0, 0.000000105373, 0.0, 0.0, 0.0, 0.000000165816] barometer_publisher: enabled: false topic_name: /barometer frame_id: base_link variance: 0.001 coefficient: 1.0 # Linear calibration parameters: coefficient addition: 0.0 # and addendum altimeter_publisher: enabled: false topic_name: /altitude coefficient: 1.0 # Linear calibration parameters: coefficient addition: 0.0 # and addendum orientation_publisher: enabled: true topic_name: /orientation gps_publisher: enabled: false navsat_fix_frame_id: world navsat_fix_topic_name: /gps navsat_altitude_topic_name: /gps_altitude navsat_satellites_topic_name: /gps_satellites navsat_variance_topic_name: /gps_variance ground_speed_topic_name: /gps_ground_speed rtc_publisher: enabled: false topic_name: /witmotion_clock

How can i solve it? Thank you.

twdragon commented 6 months ago

use_native_orientation: true

Your issue probably described here: https://wiki.ros.org/witmotion_ros/Troubleshooting#Absence_of_quaternion_orientation_output