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dawonn / vectornav

ROS Interface for the VectorNav IMU/GPS
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VN-110 SensorError: 8 on ROS2 Humble #133

Open uah-crablab opened 1 year ago

uah-crablab commented 1 year ago

Problem: -Sensor: VN-110-A (RS232 Version) -Will connect and display 'Connected to', 'Model:', 'Firmware Version', 'Hardware version', and Serial Number: -Subsequently shows ' SensorError: 8' -Subsequently shows 'GPS initialization error' -ROS2 Driver on Ubuntu 22.04 with ROS2 Humble -Will try to reconnect -Note: ROS2 Driver works fine with VN-100 IMU -Note: ROS1 Driver works fine with VN-110-A IMU

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uah-crablab commented 1 year ago

Got the solution. Setting gpsField and insField to GPSGROUP_NONE and INSGROUP_NONE for B01 in the config file fixed the issue. (It is more of a patchy solution, but works for me).

The config/vectornav.yaml file has the following for B01: BO1: asyncMode: 3 # ASYNCMODE_BOTH rateDivisor: 40 # 20 Hz commonField: 0x7FFF timeField: 0x0000 # TIMEGROUP_NONE imuField: 0x0000 # IMUGROUP_NONE gpsField: 0x0000 # GPSGROUP_NONE attitudeField: 0x0000 # ATTITUDEGROUP_NONE insField: 0x0000 # INSGROUP_NONE gps2Field: 0x0000 # GPSGROUP_NONE

Don't forget to power-cycle your IMU once you make the changes. Will still say SensorError:8 and GPSinitialization error, but topics will now appear.

I think part of the issue is associated with Line 677 in the ROS2 Driver code if(vs_->determineDeviceFamily() != vn::sensors::VnSensor::VnSensor_Family_Vn100)

vs_->determineDeviceFamily() returns VnSensor_Family_Unknown, not VnSensor_Family_Vn100.