search

RicardoRagel / arduimu-ros-driver

A ROS driver for the 9DOF Razor IMU
2 stars 0 forks source link

ERROR READING SENSOR HEADER #1

Closed WafaAbid1 closed 2 years ago

WafaAbid1 commented 2 years ago

When running roslaunch arduimu_ros_driver arduimu_ros_driver.launch use_arduimu_rpy:=false, I get the error ERROR READING SENSOR HEADER. Any idea how to fix it?

RicardoRagel commented 2 years ago

Hi @WafaAbid1

First, let my apologise becouse I don't have any device to test this program, so I can not try to replicate the issue here.

In anycase, let's try to check what is happening with your device. Assuming it is connected correctly (you can see the device at /dev/arduimu) and you are receiving data, you can check this received data uncommenting the line: https://github.com/RicardoRagel/arduimu-ros-driver/blob/62ed9109b042c4760e4833562c8c6eb502c96fb9/src/arduimu_sensors.cpp#L27 and compiling again.

Check also the comments in the header of that file:

/*!
 * 9DOF ArduIMU node - Ricardo Ragel
 * ---------------------------------
 * 
 * This node read the IMU sensors (accel, gyros, magnet) output in format:
 *  #M-C=17.83,-25.33,-42.83
 *  #G-C=-32.00,13.00,-3.00
 *  #A-C=-73.73,-174.08,160.77
 * 
 * and publish them through the ROS topic "/arduimu/accel", "/arduimu/gyros", /arduimu/magne"
 * 
 * Serial port configuration must be 115200, 8N1, NOR
 */

So the data that you are receiving should have that format. In case it is not the same format, perhaps you are using a different device firmware than the one expected by this package.

Best regards and good luck!

WafaAbid1 commented 2 years ago

Thank you! Do you think we can get the imu frequency to more than 175 hz?

RicardoRagel commented 2 years ago

Sincerely, I don't know. You can search for this information in the board firmware repo: https://github.com/Razor-AHRS/razor-9dof-ahrs