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niru-5 / imusensor

Python library for communication between raspberry pi and MPU9250 imu
MIT License
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IMU basic_starter.py runtime errors #28

Open ARLunan opened 3 months ago

ARLunan commented 3 months ago

Raspberry Pi 4/4G Ubuntu 22.04/ROS 2 Humble with PyPi imusensor library installed. mpu9250 correctly connected to i2C 1 address 68.

Running a ros2 package it has calibration data for acceleration_bias, gyro_bias magnetometer_bias and successfully publishes orientation, angular velocity, Linear acceleration data

However, as I would like the calibrate the mpu9250, I ran these scripts from this repository with these logs with IMU fixed in position. basic_starter.py

ubuntu@rp4-ub22h-mt:~/imu$ python3 basic_starter.py The name is wrong [112] The mag name is different and it is [0] looks like it did not write properly looks like it did not write properly looks like it did not write properly looks like it did not write properly looks like it did not write properly /home/ubuntu/.local/lib/python3.10/site-packages/imusensor/MPU9250/MPU9250.py:521: RuntimeWarning: invalid value encountered in divide normMagVals = self.MagVals/magLength roll: 179.4388073106308 ; pitch : -6.540237823437541 ; yaw : nan roll: 178.84802350813396 ; pitch : -2.457731262926437 ; yaw : nan . . .

identical log with imuExtraction.py

Could you suggest troubleshooting to enable adjusting calibration?