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KumarRobotics / imu_3dm_gx4

Driver for Lord Corporation Microstrain 3DM GX4 25
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Device rejected baud rate 115200. Timed-out while reading #22

Open ashnap opened 8 years ago

ashnap commented 8 years ago

Hi,

I have a very repeatable error which I can't seem to resolve. When I boot my system and try to start the imu_3dm_gx4 node I first get:

[ INFO] [1467987165.425043380]: Selecting baud rate 115200
Switching to baud rate 9600
Switched baud rate to 9600
Sending a ping packet.
Handling read : bc 63 75 f3 3c 17 33 a7 bf 38 
Handling read : 9b 3c 0 3 6 63 75 65 82 10 
Handling read : 10 5 bc 63 d9 e3 3c 18 24 63 
Handling read : bf 38 9a b7 0 3 82 85 75 65 
[ERROR] [1467987165.630045466]: Exception: Unsupported field in filter packet: 5

After the first run I get:

[ INFO] [1467987172.294812074]: Selecting baud rate 115200
Switching to baud rate 9600
Switched baud rate to 9600
Sending a ping packet.
Handling read : 75 65 1 4 4 f1 1 0 d5 6a 
Found correct baudrate.
Instructing device to change to 115200
Sending command:
SyncMSB: 75
SyncLSB: 65
Descriptor: c
Length: 7
Payload: 7 40 1 0 1 c2 0 
Check MSB: f8
Check LSB: da
Handling read : 75 65 1 4 4 f1 2 0 d6 6c 
Not interested in this [N]ACK!
SyncMSB: 75
SyncLSB: 65
Descriptor: 1
Length: 4
Payload: 4 f1 2 0 
Check MSB: d6
Check LSB: 6c
Handling read : 75 65 1 4 4 f1 1 0 d5 6a 
Not interested in this [N]ACK!
SyncMSB: 75
SyncLSB: 65
Descriptor: 1
Length: 4
Payload: 4 f1 1 0 
Check MSB: d5
Check LSB: 6a
Timed out reading response to:
SyncMSB: 75
SyncLSB: 65
Descriptor: c
Length: 7
Payload: 7 40 1 0 1 c2 0 
Check MSB: f8
Check LSB: da
[ERROR] [1467987172.801243597]: Exception: Device rejected baud rate 115200.
Timed-out while reading. Time-out limit is 300ms.

If however I unplug the IMU and replug it while the PC is powered, the first time I run the driver node I get the same message about 'Unsupported fields' and after respawning the driver the device starts working and I get the expected performance. Any insight you have on this would be much appreciated, I am using a fresh checkout of the latest version of the driver.