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LORD-MicroStrain / microstrain_inertial

ROS driver for all of MicroStrain's current G and C series products. To learn more visit
https://www.microstrain.com/inertial
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Cannot set imu_data_rate >100Hz for 3DM-CV7 AHRS #257

Closed shahyaan closed 1 year ago

shahyaan commented 1 year ago

Describe the bug A clear and concise description of what the bug is.

To Reproduce Steps to reproduce the behavior:

  1. Launch Node with command docker run --privileged --net=host -v /home/imu_params.yml:/home/imu_params.yml --device /dev/ttyS0 microstrain/ros-microstrain_inertial_driver:ros params_file:=/home/imu_params.yml port:=/dev/ttyS0
  2. See Error terminate called after throwing an instance of 'mscl::Error_Communication' what(): Failed to communicate with the device.

Expected behavior When imu_data_rate: 100 in imu_params.yml file, the sensor does indeed publish on topic /imu/data at 100 Hz and the data looks valid (header, orientation, orientation_covariance, angular velocity, angular_velocity_covariance, linear_acceleration, linear_acceleration_covariance). However, the Ros node issues the following warnings: [ WARN] [1687275568.570441788]: Attempted to stream MIP field with descriptor 0x8214 at a rate of 10.000000 hz, but the device reported that it does not support it
[ WARN] [1687275568.580466708]: Attempted to stream MIP field with descriptor 0x8201 at a rate of 10.000000 hz, but the device reported that it does not support it
[ WARN] [1687275568.580549429]: Attempted to stream MIP field with descriptor 0x8208 at a rate of 10.000000 hz, but the device reported that it does not support it
[ WARN] [1687275568.580593910]: Attempted to stream MIP field with descriptor 0x8202 at a rate of 10.000000 hz, but the device reported that it does not support it
[ WARN] [1687275568.581006222]: Attempted to stream MIP field with descriptor 0x8209 at a rate of 10.000000 hz, but the device reported that it does not support it
[ WARN] [1687275568.592788868]: Attempted to stream MIP field with descriptor 0x8242 at a rate of 10.000000 hz, but the device reported that it does not support it
[ WARN] [1687275568.592860719]: Attempted to stream MIP field with descriptor 0x8208 at a rate of 10.000000 hz, but the device reported that it does not support it
[ WARN] [1687275568.592958866]: Attempted to stream MIP field with descriptor 0x8202 at a rate of 10.000000 hz, but the device reported that it does not support it
[ WARN] [1687275568.593171439]: Attempted to stream MIP field with descriptor 0x8209 at a rate of 10.000000 hz, but the device reported that it does not support it

Environment (please complete the following information):

Modifications No modifications to code, simply created a new parameters.yml file for sensor to reference

Launch Parameters If you have an updated params.yml file, please attach it to this issue. imu_params.yml file: declination_source: 1 imu_data_rate: 250 filter_enable_gnss_pos_vel_aiding: False filter_enable_gnss_heading_aiding: False

Additional context Add any other context about the problem here.

robbiefish commented 1 year ago

I think these logs be kind of confusing. There are many topics that your device does not support, which is what those logs are saying,

Can you please run rostopic hz /imu/data or replace /imu/data with whatever topic you are interested in and let me know the rate in hertz you are getting? If it is around 250 hertz, then your device is functioning as expected

shahyaan commented 1 year ago

Rob,

I am getting 100 Hz when I run rostopic echo /imu/data, and 10 Hz for /nav/filtered_imu/data . If I set the imu_data_rate to anything above 100 Hz in the imu_params.yml file the node throws an error: ''mscl::Error_Communication' what(): Failed to communicate with the device.

How can I change the imu_data_rate if not via the parameters file?

Thanks

robbiefish commented 1 year ago

Okay, thank you for the feedback, I notice that you are using an old version of the driver. The version you are using was build before the CV7 was released, so it has not been tested with that device. Could you try updating to the latest version? It should be available via the ROS package index for your environment

Installation instructions for installing from the buildfarm can be found here

If you can't install from the buildfarm, you should be able to build from source by following these instructions

shahyaan commented 1 year ago

I am using the Raspbian Buster OS which is armv7.

When I pull the docker image with tag "latest" I get the following error: docker pull microstrain/ros-microstrain_inertial_driver:latest latest: Pulling from microstrain/ros-microstrain_inertial_driver no matching manifest for linux/arm/v7 in the manifest list entries

So instead I pulled "[latest-noetic-arm32v7] (https://hub.docker.com/layers/microstrain/ros-microstrain_inertial_driver/latest-noetic-arm32v7/images sha256-19a070228899bf9528154bf761a5536a390b62688fbaac977f505ea4d2e6a357?context=explore) which does work, but results in the issue of not being able to set imu_data_rate>100Hz.

Is there another driver that you are referring to in the last message that I am unaware of?

Thanks

shahyaan commented 1 year ago

I was able to build the driver from source. However, now I get the following issue when I run: roslaunch microstrain_inertial_driver microstrain.launch

process[microstrain_inertial_driver-2]: started with pid [25009] [ INFO] [1687444676.505751494]: Running microstrain_inertial_driver version: 3.0.1-3-g527e630 [ INFO] [1687444676.508793506]: Using MIP SDK version: v1.0.0-21-gb1e6278 [ INFO] [1687444676.521890559]: Attempting to open serial port </dev/ttyS0> at <115200> [ INFO] [1687444676.522569382]: Setting device to idle in order to configure [ INFO] [1687444676.535056221]: Main Connection Info: ####################### Model Name: 3DMCV7-AHRS Serial Number: 6286.155873 Firmware Version: 1.0.07 ####################### [ INFO] [1687444676.538108529]: Note: Not opening aux port because RTK dongle enable was not set to true. [ INFO] [1687444676.564968551]: Note: The device does not support publishing the topic gnss1/aiding_status [ INFO] [1687444676.565282880]: Note: The device does not support publishing the topic gnss1/antenna_offset_correction [ INFO] [1687444676.565499839]: Note: The device does not support publishing the topic gnss1/fix [ INFO] [1687444676.565692522]: Note: The device does not support publishing the topic gnss1/fix_info [ INFO] [1687444676.565881704]: Note: The device does not support publishing the topic gnss1/odom [ INFO] [1687444676.566068924]: Note: The device does not support publishing the topic gnss1/rf_error_detection [ INFO] [1687444676.566279458]: Note: The device does not support publishing the topic gnss1/sbas_info [ INFO] [1687444676.566468529]: Note: The device does not support publishing the topic gnss1/time_ref [ INFO] [1687444676.566671230]: Note: The device does not support publishing the topic gnss2/aiding_status [ INFO] [1687444676.566858635]: Note: The device does not support publishing the topic gnss2/antenna_offset_correction [ INFO] [1687444676.567045576]: Note: The device does not support publishing the topic gnss2/fix [ INFO] [1687444676.567230926]: Note: The device does not support publishing the topic gnss2/fix_info [ INFO] [1687444676.567415960]: Note: The device does not support publishing the topic gnss2/odom [ INFO] [1687444676.567598328]: Note: The device does not support publishing the topic gnss2/rf_error_detection [ INFO] [1687444676.567816473]: Note: The device does not support publishing the topic gnss2/sbas_info [ INFO] [1687444676.567999711]: Note: The device does not support publishing the topic gnss2/time_ref [ INFO] [1687444676.568193541]: Note: The device does not support publishing the topic nav/aiding_summary [ INFO] [1687444676.568377983]: Note: The device does not support publishing the topic nav/dual_antenna_status [ INFO] [1687444676.568571073]: Note: The device does not support publishing the topic nav/heading_state [ INFO] [1687444676.568768681]: Note: The device does not support publishing the topic rtk/status [ INFO] [1687444676.568965660]: Note: The device does not support publishing the topic rtk/status_v1 [ INFO] [1687444676.638279756]: Note: Not configuring GPIO [ INFO] [1687444676.638630399]: Setting PPS source to 0x0001 [ERROR] [1687444676.640628463]: Failed to configure PPS source [ERROR] [1687444676.640869941]: Error(3): Invalid Parameter [ERROR] [1687444676.641085494]: Failed to read configuration for node [FATAL] [1687444676.641295435]: Unable to configure node base [microstrain_inertial_driver-2] process has died [pid 25009, exit code 2, cmd /opt/ros/noetic/lib/microstrain_inertial_driver/microstrain_inertial_driver_node name:=microstrain_inertial_driver log:=/home/mezmeriz/.ros/log/5eb151ca-110a-11ee-868e-e45f014ed061/microstrain_inertial_driver-2.log]. log file: /home/mezmeriz/.ros/log/5eb151ca-110a-11ee-868e-e45f014ed061/microstrain_inertial_driver-2*.log

robbiefish commented 1 year ago

Thank you for the feedback, please set the following parameters and try again:

filter_pps_source : 0
filter_declination_source : 0

For the docker images, we don't have a formal process for releasing those, so they have gotten pretty out of date. I will try to push an update with the most recent changes today

shahyaan commented 1 year ago

Hi Rob,

Setting filter_pps_source: 0 worked. The node runs and data is streaming from the IMU. I think the filter_declination_soure: 1 is correct for the CV7, and not 0. If I set it to 0 then the node stops communicating.

I am able to get data rates over 100Hz now, however, there still seems to be a limit somewhere that prevents me from achieving an imu_data_rate of 250 Hz. When I change the imu_data_rate: 250 in 'src/microstrain_inertial/microstrain_inertial_driver/microstrain_inertial_driver_common/config/params.yml', here's the output of the node:

started roslaunch server http://CM4-8G-HEAD3:35625/

SUMMARY

PARAMETERS

NODES / microstrain_inertial_driver (microstrain_inertial_driver/microstrain_inertial_driver_node)

auto-starting new master process[master]: started with pid [2594] ROS_MASTER_URI=http://CM4-8G-HEAD3:11311

setting /run_id to 907ee4e4-1117-11ee-92ba-e45f014ed061 process[rosout-1]: started with pid [2605] started core service [/rosout] process[microstrain_inertial_driver-2]: started with pid [2612] [ INFO] [1687450343.404245885]: Running microstrain_inertial_driver version: 3.0.1-3-g527e630 [ INFO] [1687450343.407413794]: Using MIP SDK version: v1.0.0-21-gb1e6278 [ INFO] [1687450343.429608030]: Attempting to open serial port </dev/ttyS0> at <115200> [ INFO] [1687450343.430440206]: Setting device to idle in order to configure [ INFO] [1687450344.035285941]: Main Connection Info: ####################### Model Name: 3DMCV7-AHRS Serial Number: 6286.155873 Firmware Version: 1.0.07 ####################### [ INFO] [1687450344.040529105]: Note: Not opening aux port because RTK dongle enable was not set to true. [ INFO] [1687450344.068113485]: Note: The device does not support publishing the topic gnss1/aiding_status [ INFO] [1687450344.068384223]: Note: The device does not support publishing the topic gnss1/antenna_offset_correction [ INFO] [1687450344.068597517]: Note: The device does not support publishing the topic gnss1/fix [ INFO] [1687450344.068824274]: Note: The device does not support publishing the topic gnss1/fix_info [ INFO] [1687450344.069031364]: Note: The device does not support publishing the topic gnss1/odom [ INFO] [1687450344.069232232]: Note: The device does not support publishing the topic gnss1/rf_error_detection [ INFO] [1687450344.069433063]: Note: The device does not support publishing the topic gnss1/sbas_info [ INFO] [1687450344.069651005]: Note: The device does not support publishing the topic gnss1/time_ref [ INFO] [1687450344.069852170]: Note: The device does not support publishing the topic gnss2/aiding_status [ INFO] [1687450344.070051908]: Note: The device does not support publishing the topic gnss2/antenna_offset_correction [ INFO] [1687450344.070254536]: Note: The device does not support publishing the topic gnss2/fix [ INFO] [1687450344.070454052]: Note: The device does not support publishing the topic gnss2/fix_info [ INFO] [1687450344.070658568]: Note: The device does not support publishing the topic gnss2/odom [ INFO] [1687450344.070858122]: Note: The device does not support publishing the topic gnss2/rf_error_detection [ INFO] [1687450344.071053564]: Note: The device does not support publishing the topic gnss2/sbas_info [ INFO] [1687450344.071246654]: Note: The device does not support publishing the topic gnss2/time_ref [ INFO] [1687450344.071455263]: Note: The device does not support publishing the topic nav/aiding_summary [ INFO] [1687450344.071657242]: Note: The device does not support publishing the topic nav/dual_antenna_status [ INFO] [1687450344.071864333]: Note: The device does not support publishing the topic nav/heading_state [ INFO] [1687450344.072077793]: Note: The device does not support publishing the topic rtk/status [ INFO] [1687450344.072276754]: Note: The device does not support publishing the topic rtk/status_v1 [ INFO] [1687450344.140446518]: Note: Not configuring GPIO [ INFO] [1687450344.140954179]: Setting PPS source to 0x0000 [ INFO] [1687450344.143805148]: Note: The device does not support the odometer settings command [ INFO] [1687450344.144248883]: Not configuring factory streaming channels [ INFO] [1687450344.144678249]: Note: The device does not support the SBAS settings command [ INFO] [1687450344.145106004]: Note: The device does not support the nmea message format command [ INFO] [1687450344.145532925]: Note: Device does not support the RTK dongle config command [ INFO] [1687450344.187395091]: Setting Declination Source to 1 0.000000 [ INFO] [1687450344.190129098]: Note: Device does not support GNSS antenna offsets [ INFO] [1687450344.190719406]: Note: The device does not support the vehicle dynamics mode command. [ INFO] [1687450344.191296567]: Note: The device does not support the heading source command. [ INFO] [1687450344.192142890]: Note: The device does not support the filter autoinitialization command. [ INFO] [1687450344.192751662]: Setting autoadaptive options to: level = 2, time_limit = 15000 [ INFO] [1687450344.197173409]: Note: Filter aiding gnss pos/vel not supported [ INFO] [1687450344.199786306]: Note: Filter aiding gnss heading not supported [ INFO] [1687450344.202794532]: Note: Filter aiding altimeter not supported [ INFO] [1687450344.205795869]: Note: Filter aiding odometer not supported [ INFO] [1687450344.208127269]: Filter aiding magnetometer = 0 [ INFO] [1687450344.210797628]: Filter aiding external heading = 0 [ INFO] [1687450344.211141791]: Note: The device does not support the relative position configuration command [ INFO] [1687450344.211490862]: Note: The device does not support the filter speed lever arm command. [ INFO] [1687450344.211835543]: Note: The device does not support the wheeled vehicle constraint command. [ INFO] [1687450344.212169706]: Note: The device does not support the vertical gyro constraint command. [ INFO] [1687450344.212542831]: Note: The device does not support the GNSS antenna calibration command. [ INFO] [1687450344.212898531]: Note: The device does not support the next-gen filter initialization command. [ INFO] [1687450344.213246120]: Setting sensor to vehicle transformation euler to [0.000000, 0.000000, 0.000000] [ INFO] [1687450344.216844728]: Note: The device does not support the reference point lever arm command [ INFO] [1687450344.217215298]: Note: The settings were not saved as startup settings. Power cycling will remove changes from device [ INFO] [1687450344.217577368]: Resetting the filter after the configuration is complete. [ INFO] [1687450344.260920889]: Setting spin rate to <500.000000> hz [ INFO] [1687450344.261438031]: Resuming the device data streams [ INFO] [1687450344.263988466]: Starting Data Parsing

Corresponding rostopic hz /imu/data subscribed to [/imu/data] average rate: 128.791 min: 0.006s max: 0.018s std dev: 0.00221s window: 128 average rate: 129.640 min: 0.006s max: 0.018s std dev: 0.00221s window: 259 average rate: 129.339 min: 0.004s max: 0.020s std dev: 0.00228s window: 388 average rate: 129.505 min: 0.004s max: 0.020s std dev: 0.00225s window: 518 average rate: 129.553 min: 0.004s max: 0.020s std dev: 0.00224s window: 648 average rate: 129.875 min: 0.004s max: 0.020s std dev: 0.00218s window: 780 average rate: 129.570 min: 0.004s max: 0.020s std dev: 0.00220s window: 908 average rate: 129.531 min: 0.004s max: 0.020s std dev: 0.00223s window: 1037 average rate: 129.332 min: 0.004s max: 0.020s std dev: 0.00225s window: 1165 average rate: 129.347 min: 0.004s max: 0.020s std dev: 0.00226s window: 1295 average rate: 129.202 min: 0.004s max: 0.020s std dev: 0.00225s window: 1423 average rate: 129.232 min: 0.004s max: 0.020s std dev: 0.00225s window: 1523

shahyaan commented 1 year ago

Hi Rob, any update regarding the issue of data rate topping out at 130Hz regardless of what I set the parameter to?

nathanmillermicrostrain commented 1 year ago

Looks like it might be a baudrate issue?

From "[ INFO] [1687450343.429608030]: Attempting to open serial port </dev/ttyS0> at <115200>"

Are you using a RS232 serial port at 115200 baud? If so, can you up it to 921600? The driver will output a number of messages from the device to support as many of the features of the driver as possible. You can tune the publishing rate of data in the driver to some extent to try to maximize your bandwidth.

Hope that helps!

Nathan

shahyaan commented 1 year ago

Hi Nathan,

I've tried that (and other baudrates) and the node gives me the following error. Seems like when the device tries to reset itself to accept the new configuration it hangs.

NODES / microstrain_inertial_driver (microstrain_inertial_driver/microstrain_inertial_driver_node)

ROS_MASTER_URI=http://CM4-8G-HEAD3:11311

process[microstrain_inertial_driver-1]: started with pid [1192] [ INFO] [1687876111.025718907]: Running microstrain_inertial_driver version: 3.0.1-3-g527e630 [ INFO] [1687876111.028669443]: Using MIP SDK version: v1.0.0-21-gb1e6278 [ INFO] [1687876111.041987929]: Attempting to open serial port </dev/ttyS0> at <230400> [ INFO] [1687876111.042548733]: Setting device to idle in order to configure [ERROR] [1687876117.048503613]: Unable to set device to idle [ERROR] [1687876117.048761349]: Error(-4): Timed out [ERROR] [1687876117.048905383]: Failed to read configuration for node [FATAL] [1687876117.049043714]: Unable to configure node base [microstrain_inertial_driver-1] process has died [pid 1192, exit code 2, cmd /opt/ros/noetic/lib/microstrain_inertial_driver/microstrain_inertial_driver_node name:=microstrain_inertial_driver log:=/home/mezmeriz/.ros/log/cb4205ce-14f6-11ee-b463-e45f014ed061/microstrain_inertial_driver-1.log]. log file: /home/mezmeriz/.ros/log/cb4205ce-14f6-11ee-b463-e45f014ed061/microstrain_inertial_driver-1*.log

shahyaan commented 1 year ago

Here is the same error with 921600 baudrate: NODES / microstrain_inertial_driver (microstrain_inertial_driver/microstrain_inertial_driver_node)

ROS_MASTER_URI=http://CM4-8G-HEAD3:11311

process[microstrain_inertial_driver-1]: started with pid [2518] [ INFO] [1687876351.086200558]: Running microstrain_inertial_driver version: 3.0.1-3-g527e630 [ INFO] [1687876351.089013060]: Using MIP SDK version: v1.0.0-21-gb1e6278 [ INFO] [1687876351.101635418]: Attempting to open serial port </dev/ttyS0> at <921600> [ INFO] [1687876351.102213040]: Setting device to idle in order to configure [ERROR] [1687876357.111125789]: Unable to set device to idle [ERROR] [1687876357.111578154]: Error(-4): Timed out [ERROR] [1687876357.112717065]: Failed to read configuration for node [FATAL] [1687876357.113029117]: Unable to configure node base [microstrain_inertial_driver-1] process has died [pid 2518, exit code 2, cmd /opt/ros/noetic/lib/microstrain_inertial_driver/microstrain_inertial_driver_node name:=microstrain_inertial_driver log:=/home/mezmeriz/.ros/log/cb4205ce-14f6-11ee-b463-e45f014ed061/microstrain_inertial_driver-1.log]. log file: /home/mezmeriz/.ros/log/cb4205ce-14f6-11ee-b463-e45f014ed061/microstrain_inertial_driver-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done

nathanmillermicrostrain commented 1 year ago

Those errors indicate that the port is not opening correctly at those baudrates. Is there a port configuration option on your target hardware that needs to be set? We provide low-level serial drivers for standard Linux & Windows installs, but the initialization may look different for your target hardware. This is where I'd look for reference in how we set up the serial port (our ROS driver uses our MIP SDK): https://github.com/LORD-MicroStrain/mip_sdk/tree/b1e62780dfdfe6a9166480e9b05a8fdc051e6dd9/src/mip/utils

Hope that helps, Nathan

shahyaan commented 1 year ago

Hi Nathan,

That resolved the problem, however, the only way I could change the baudrate was using the sensor connect software, disconnecting from the device, and then attaching it to y raspberry Pi module. I was unable to get the device to respect a change in the baud rate using the parameter file. But once it was set in sensor connect to 921600 it stays that way and allows imu_data_rates up to 1Khz, and I can live with that. Thank you both Nathan and Rob for helping me resolve this issue!

Shahyaan

robbiefish commented 1 year ago

@shahyaan, I am glad Nathan was able to help you with the issue in my absence, saving the baudrate setting using SensorConnect is one solution, you could also change the parameter set_baud: True in the params.yml, this will configure the device to use the requested baudrate and then open the port at the requested baudrate as well.

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This issue is stale because it has been open for 2 weeks with no activity. If the issue is still not resolved, please leave a comment describing what is still not working

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This issue was closed because it has been inactive for 2 weeks since being marked as stale. If the issue is still not resolved, please reopen the issue, and leave a comment describing what is still not working