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jeskesen / i2c_imu

ROS node for communicating with several models of commercially available IMUs over I2C in linux.
GNU General Public License v3.0
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How to use mpu9250? #10

Open sujunqin123 opened 7 years ago

sujunqin123 commented 7 years ago

Hi, I want to run mpu9250 in banana pi M3，I try to modify the mpu_9150.launch, as follow: <?xml version="1.0"?>

and I have detect mpu9250 in i2c bus 2 root@bpi-iot-ros-ai:/home/pi/my_ros_ws# i2cdetect -y 2 0 1 2 3 4 5 6 7 8 9 a b c d e f 00: -- -- -- -- -- -- -- -- -- -- -- -- -- 10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 60: -- -- -- -- -- -- -- -- 68 -- -- -- -- -- -- -- 70: -- -- -- -- -- -- -- --

when i run: roslaunch i2c_imu mpu_9250.launch, the result as follow:

PARAMETERS

NODES /imu/ i2c_imu_node (i2c_imu/i2c_imu_node) / imu_to_base (tf/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[imu_to_base-1]: started with pid [10098] process[imu/i2c_imu_node-2]: started with pid [10099] [ INFO] [1487039913.152380428]: RTIMU Node for ROS Settings file RTIMULib.ini loaded [ INFO] [1487039913.213003026]: loadSettings: reading IMU parameters from param server [ INFO] [1487039913.381746702]: No Calibration for Compass [ INFO] [1487039913.385535281]: No Calibration for Accelerometer Using fusion algorithm RTQF min/max compass calibration not in use Ellipsoid compass calibration not in use Accel calibration not in use I2C read error from 104, 15 - Failed to read LSM9DS1 accel/gyro id [FATAL] [1487039913.492664405]: I2cImu - Failed to init the IMU [FATAL] [1487039913.492860938]: BREAKPOINT HIT file = /home/pi/my_ros_ws/src/i2c_imu-master/src/i2c_imu_node.cpp line=137

How can I solve this problem? thanks

AllanXyl commented 6 years ago

I have a similar problem, did you happen to resolve the issue?

Alabate commented 6 years ago

To use MPU-9250, you have to set imu_type to 7. Here is an example of launchfile:

<?xml version="1.0"?>
<launch>
    <node pkg="tf" type="static_transform_publisher" name="imu_to_base" 
        args="0 0 .1 0 0 0 base_link imu_link 50" />    

    <node name="i2c_imu_node" pkg="i2c_imu" type="i2c_imu_node" ns="imu" output="screen">
        <param name="imu_frame" value="imu_link" />

        <param name="i2c_bus" value="1" />

        <param name="i2c_slave_address" value="104" />
        <!--imu_type:
            0 = Auto discover
            1 = Null (used when data is provided from a remote IMU
            2 = InvenSense MPU-9150
            3 = STM L3GD20H + LSM303D
            4 = STM L3GD20 + LSM303DLHC
            5 = STM LSM9DS0
            6 = STM LSM9DS1
            7 = InvenSense MPU-9250
            8 = STM L3GD20H + LSM303DLHC
            9 = Bosch BMX055
            10 = Bosch BNX055
        -->
        <param name="imu_type" value="7" />

        <!--fusion_type:
            0 = RTFUSION_TYPE_NULL: just a dummy to keep things happy if not needed
            1 = RTFUSION_TYPE_KALMANSTATE4: kalman state is the quaternion pose
            2 = RTFUSION_TYPE_RTQF: RT quaternion fusion
        -->
        <param name="fusion_type" value="2" />

        <!-- mpu9250/gyro_accel_sample_rate: 5 - 1000 Hz -->
        <param name="mpu9250/gyro_accel_sample_rate" value="80" />

        <!-- mpu9250/compass_sample_rate: 1 - 100 Hz -->
        <param name="mpu9250/compass_sample_rate" value="40" /> 

        <!-- mpu9250/gyro_low_pass_filter:
            0x11 - 8800Hz, 0.64mS delay
            0x10 - 3600Hz, 0.11mS delay
            0x00 - 250Hz, 0.97mS delay
            0x01 - 184Hz, 2.9mS delay
            0x02 - 92Hz, 3.9mS delay
            0x03 - 41Hz, 5.9mS delay
            0x04 - 20Hz, 9.9mS delay
            0x05 - 10Hz, 17.85mS delay
            0x06 - 5Hz, 33.48mS delay
        -->
        <param name="mpu9250/gyro_low_pass_filter" value="3" />

        <!-- mpu9250/accel_low_pass_filter:
            0x00 - 460Hz, 1.94mS delay
            0x01 - 184Hz, 5.80mS delay
            0x02 - 92Hz, 7.80mS delay
            0x03 - 41Hz, 11.80mS delay
            0x04 - 20Hz, 19.80mS delay
            0x05 - 10Hz, 35.70mS delay
            0x06 - 5Hz, 66.96mS delay
        -->
        <param name="mpu9250/accel_low_pass_filter" value="3" />

        <!-- mpu9250/gyro_full_scale_range:
            0 +/- 250 degress per second
            8 +/- 500 degress per second
            16 +/- 1000 degress per second
            24 +/- 2000 degress per second
        -->
        <param name="mpu9250/gyro_full_scale_range" value="16" />

        <!-- mpu9250/accel_full_scale_range:
            0 +/- 2g
            8 +/- 4g
            16 +/- 8g
            24 +/- 16g
        -->
        <param name="mpu9250/accel_full_scale_range" value="16" />
    </node>
</launch>
Sahil-24 commented 6 years ago

Has anyone had success with calibrating the compass/accelerometer via either the yaml or launch file?