jeskesen / i2c_imu Goto Github PK
View Code? Open in Web Editor NEWROS node for communicating with several models of commercially available IMUs over I2C in linux.
License: GNU General Public License v3.0
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RTIMULib
It moved to https://github.com/RTIMULib/RTIMULib
Now it's vanished..... wtf
All his pages are gone it seems, twitter profile and all kinds of stuff is 404.
i2c_imu for arduino nano
Hi there,
is there a possibility to use this node with arduino nano?
Why there is a linear_acceleration in X direction for not moving imu 9250?
I am using mpu9250 by the package /jeskesen/i2c_imu and the launch file is:
<?xml version="1.0"?>
<launch>
<node pkg="tf" type="static_transform_publisher" name="imu_to_base"
args="0 0 0 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" />
-->
<node name="i2c_imu_node" pkg="i2c_imu" type="i2c_imu_node" 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>
the imu doesn't move, but the output is:
---
header:
seq: 2685
stamp:
secs: 1598377876
nsecs: 786975020
frame_id: "imu_link"
orientation:
x: 0.0196061972529
y: -0.100331619382
z: 0.19570158422
w: 0.975320518017
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: -0.000253986567259
y: -0.000782979652286
z: 0.000762287527323
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
x: 1.93930334473
y: 0.0191536132812
z: 9.28710823975
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
Why there is a linear_acceleration in X direction x=1.9 ?
vectors for calibration data are using integer, but probably should be using double / float
Lines in the node should look like that.
std::vector<double> compass_max, compass_min;
std::vector<double> accel_max, accel_min;
I give you a pull request for my changes.
How to use mpu9250?
Hi, I want to run mpu9250 in banana pi M3，I try to modify the mpu_9150.launch, as follow:
<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="2" />
<param name="i2c_slave_address" value="104" />
<!--imu_type:
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 = InvenSense MPU-9250
-->
<param name="imu_type" value="6" />
<!--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="50" />
<!-- mpu9250/compass_sample_rate: 1 - 100 Hz -->
<param name="mpu9250/compass_sample_rate" value="30" />
<!-- mpu9250/accel_full_scale_range:
0x00: MPU9150_ACCELFSR_2 +/- 2g
0x08: MPU9150_ACCELFSR_4 +/- 4g
0x10: MPU9150_ACCELFSR_8 +/- 8g
0x18: MPU9150_ACCELFSR_16 +/- 16g
-->
<param name="mpu9250/accel_full_scale_range" value="16" />
<!-- mpu9250/gyro_full_scale_range:
0x00: MPU9150_GYROFSR_250 +/- 250 degrees per second
0x08: MPU9150_GYROFSR_500 +/- 500 degrees per second
0x10: MPU9150_GYROFSR_1000 +/- 1000 degrees per second
0x18: MPU9150_GYROFSR_2000 +/- 2000 degrees per second
-->
<param name="mpu9250/gyro_full_scale_range" value="16" />
<!-- mpu9250/gyro_accel_low_pass_filter:
0: MPU9150_LPF_256: gyro: 256Hz, accel: 260Hz
1: MPU9150_LPF_188: gyro: 188Hz, accel: 184Hz
2: MPU9150_LPF_98: gyro: 98Hz, accel: 98Hz
3: MPU9150_LPF_42: gyro: 42Hz, accel: 44Hz
4: MPU9150_LPF_20: gyro: 20Hz, accel: 21Hz
5: MPU9150_LPF_10: gyro: 10Hz, accel: 10Hz
6: MPU9150_LPF_5: gyro: 5Hz, accel: 5Hz
-->
<param name="mpu9250/gyro_accel_low_pass_filter" value="3" />
</node>
when i run: roslaunch i2c_imu mpu_9250.launch, the result as follow:
PARAMETERS
- /imu/i2c_imu_node/fusion_type: 2
- /imu/i2c_imu_node/i2c_bus: 1
- /imu/i2c_imu_node/i2c_slave_address: 104
- /imu/i2c_imu_node/imu_frame: imu_link
- /imu/i2c_imu_node/imu_type: 6
- /rosdistro: indigo
- /rosversion: 1.11.20
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
How to set world frame orientation?
Is there a way to set the world frame to be ENU? What is the default value for world frame? Thanks.
How to Adjust and put the value of Compass Declination ?
How to Adjust and put the value of Compass Declination ?
You can find magnetic declination in your city from
www.magnetic-declination.com
For more details, see
http://www.compassdude.com/compass-declination.php
https://en.wikipedia.org/wiki/Magnetic_declination
I2C Bus and Address should be added in the example lauchfile for MPU 9150
Would give the user a better start if the bus and the slave address would be there, don't you think?
<param name="i2c_bus" value="0" />
<param name="i2c_slave_address" value="104" /> <!--Adress of MPU 9150: 0x68 = 104(dec) -->
Regards,
Christian
Error during catkin_make cant find RTIMULib.h
Where do I have to put the file/ and or modify the code?
How to calibrate compass and accelerometer ?
How to calibrate compass and accelerometer ?
What are those values refer to?
#Calibration
calib:
compass_min: [-28.451460, -42.645390, -38.086895]
compass_max: [68.179794, 48.143326, 57.744003]
accel_min: [ -1.004789, -1.014467, -1.015889 ]
accel_max: [ 0.995606, 1.002416, 0.996524 ]
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