Open ntwong0 opened 4 years ago
@BobMak was not able to look at compass node this week
trying to set raw=TRUE in m_i2c(int bus, boolean raw)
https://github.com/eclipse/upm/blob/master/src/mpu9150/ak8975.cxx#L38
Looking into mraa/i2c.h, we should try to use mraa_i2c_init_raw()
, so this is a good approach.
@BobMak mpu60x0.cxx
also needs to be modified at line 36, since this is the inherited constructor for MPU9250.
No updates for this week, will check back on @BobMak next week
errors in making upm from the source. Need to resolve dependencies. so far tried apt-get install libbacnet libmodbus libopenzwave libopenzwave
@BobMak can you attempt building upm
from source by next Saturday? Stretch goal - draft of calibration procedure
@BobMak @YMmirsky need clarification on next steps
@BobMak still blocked on upm
building, will meet with @YMmirsky to resolve
Able to build upm. upm requires a specific nodejs version to build optional utilities. It is possible to build upm without node by running cmake <upm_directory> DBUILDSWIGNODE=OFF
Original solution
@BobMak Note: saturday
Rebuilding upm with raw=TRUE results in the same error
Core issue. Replacing mraa i2c read/write calls in upm.
I've replaced the mraa i2c calls with linux i2c code in the upm as a temporary workaround. I can see the accelerometer data, but the orientation data looks broken.
maybe use magnet method
Tried enabling magnetometer by setting the enableAk8975
flag to true. Still getting garbage data, no noticeable changes when the magnet is put closer.
can you post an example or vid recording of the garbage data? also could you push your code to the repo so that we can see the code?
Failed to utilize the ros-mpu9250-node module on Jetson Nano. The low-level dependency of the node doesn't support Jetson nano yet. Replacing the dependency failed. Working on my own magnetometer node implementation. Already able to initialize and read from the magnetometer.
working on a python mpu9250 orientation node implementation.
vizualised pose data by using Nelson's rviz notes
there was one other thing I needed to run to see the live data visualisation:
rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map imu 100
mpu orientation data looks consistent and is reacting to a magnet. now trying to figure out how to do self-test and how to calibrate the sensor.
progress
useful links
ref for i2c timing diagram![image](https://user-images.githubusercontent.com/10604448/85188319-908a3980-b25a-11ea-8b46-848b7facb5ae.png)