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KumarRobotics / imu_vn_100

ROS driver for VN-100 of VectorNav Technologies
Apache License 2.0
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VN permission denied error when enabling binary mode #44

Open berndpfrommer opened 3 years ago

berndpfrommer commented 3 years ago

Using the default launch file I get a permission denied error. The driver permissions look fine, and it sets the baud rate as expected. This call triggers the Permission denied error:

  VnEnsure(vn100_setBinaryOutput1Configuration(
      &imu_, BINARY_ASYNC_MODE_SERIAL_2, kBaseImuRate / imu_rate_,
      BG1_QTN | BG1_IMU | BG1_MAG_PRES | BG1_SYNC_IN_CNT | BG1_TIME_SYNC_IN,
      BG3_NONE, BG5_NONE, true));

I can operate the device in ASCII mode and get data just fine. Any idea what the problem could be?

Here is the ROS driver output:

[ INFO] [1625943184.351130705]: Sync out rate: 20
[ INFO] [1625943184.862031633]: Connected to device at /dev/ttyUSB0
[ INFO] [1625943184.885040377]: Default serial baudrate: 115200
[ INFO] [1625943184.885198288]: Set serial baudrate to 921600
[ INFO] [1625943185.919464869]: Connected to device at /dev/ttyUSB0
[ INFO] [1625943185.949322535]: New serial baudrate: 921600
[ INFO] [1625943185.966449729]: Fetching device info.
[ INFO] [1625943185.981300794]: Model number: VN-100T-CR
[ INFO] [1625943185.997282869]: Hardware revision: 7
[ INFO] [1625943186.013351897]: Serial number: 0100056785
[ INFO] [1625943186.030187364]: Firmware version: 2.1.0.0
[ INFO] [1625943186.030270266]: Set Synchronization Control Register (id:32).
[ INFO] [1625943186.101733960]: /imu: VN: Permission denied
fcladera commented 3 years ago

Hi @berndpfrommer, were you able to figure out this issue?

berndpfrommer commented 3 years ago

Nope. Got access to VectorNav's online documents but haven't looked at them yet. I'm wondering if it has to do with the firmware being too old or too recent.

fcladera commented 3 years ago

I am facing the same problem with our current VN-100T-CR. I'll take a look into the firmware, thanks for the hint!