robert-meiner
commented
4 years ago I got this to build using catkin tools. I get this warning about generating messages, though. Is there a fix for this?
pi@antonio:~/catkin_ws $ catkin build
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Profile: default
Extending: [env] /opt/ros/melodic:/home/pi/catkin_ws/devel
Workspace: /home/pi/catkin_ws
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Build Space: [exists] /home/pi/catkin_ws/build
Devel Space: [exists] /home/pi/catkin_ws/devel
Install Space: [unused] /home/pi/catkin_ws/install
Log Space: [exists] /home/pi/catkin_ws/logs
Source Space: [exists] /home/pi/catkin_ws/src
DESTDIR: [unused] None
----------------------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
----------------------------------------------------------------------
Additional CMake Args: -DCMAKE_BUILD_TYPE=Release
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
----------------------------------------------------------------------
Whitelisted Packages: None
Blacklisted Packages: None
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Workspace configuration appears valid.
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[build] Found '1' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> mpu9250_9dof_imu
_____________________________________________________________________________________
Warnings << mpu9250_9dof_imu:cmake /home/pi/catkin_ws/logs/mpu9250_9dof_imu/build.cmake.000.log
CMake Warning at /home/pi/catkin_ws/build/mpu9250_9dof_imu/cmake/mpu9250_9dof_imu-genmsg.cmake:3 (message):
Invoking generate_messages() without having added any message or service
file before.
You should either add add_message_files() and/or add_service_files() calls
or remove the invocation of generate_messages().
Call Stack (most recent call first):
/opt/ros/melodic/share/genmsg/cmake/genmsg-extras.cmake:307 (include)
CMakeLists.txt:24 (generate_messages)
cd /home/pi/catkin_ws/build/mpu9250_9dof_imu; catkin build --get-env mpu9250_9dof_imu | catkin env -si /usr/bin/cmake /home/pi/catkin_ws/src/ros-mpu9250-imu --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/pi/catkin_ws/devel/.private/mpu9250_9dof_imu -DCMAKE_INSTALL_PREFIX=/home/pi/catkin_ws/install -DCMAKE_BUILD_TYPE=Release; cd -
.....................................................................................
Finished <<< mpu9250_9dof_imu [ 18.5 seconds ]
[build] Summary: All 1 packages succeeded!
[build] Ignored: None.
[build] Warnings: 1 packages succeeded with warnings.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 18.6 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
pi@antonio:~/catkin_ws $
I fixed the basic errors to get the node to compile on a Raspberry Pi (current Raspbian). Also added the mandatory license tag to package.xml. I left the default "BSD" in there, as I found no license information in the code. Please check and decide on a license. Also the accelerometer and gyroscope data was the wrong endianness. Lastly, I changed the scaling factors to match what's in the datasheet (mostly the accelerometer was off). Values that are now returned at least look like they could be plausible.