ROS1 imu function package (WHEELTWC n100)

1.Add dependencies：

1.1 serial module installation

ros-foxy,ros-noetic Version of serial module installation

ros-melodic version:

sudo apt install ros-melodic-serial

1.2 CH343 Driver Installation

linux下CH343 Module driver installation

假如你会发生以下ERROR

insmod: ERROR: could not insert module ch343.ko: Operation not permitted

• 需要进入bios界面 然后将安全模式关掉 否则无法insmod

假如内核版本过高编译失败(compilation error on pop os 21.10 with kernal 5.16.15)

• 高版本驱动 这个编译有问题 代码稍微改点就可以编译了

2.修改CH9102 固定串口号

修改为固定名称

sudo sh wheeltec_udev.sh

3.使用：

3.1 编译

catkin_make -DCATKIN_WHITELIST_PACKAGES=fdilink_ahrs # 或者使用catkin build

3.2 启动

roslaunch fdilink_ahrs  ahrs_driver.launch

查看ahrs_driver.launch配置

其中device_type：

• 0. Deta-10的原始坐标系模式
• 1. 单独imu的坐标系模式

3.3 查看数据

rostopic echo /imu

调用的ahrs_driver节点会发布sensor_msgs/Imu格式的imu topic。

std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
geometry_msgs/Quaternion orientation
  float64 x
  float64 y
  float64 z
  float64 w
float64[9] orientation_covariance
geometry_msgs/Vector3 angular_velocity
  float64 x
  float64 y
  float64 z
float64[9] angular_velocity_covariance
geometry_msgs/Vector3 linear_acceleration
  float64 x
  float64 y
  float64 z
float64[9] linear_acceleration_covariance

也会发布geometry_msgs/Pose2D格式的二维指北角话题，话题名默认为/mag_pose_2d。

float64 x
float64 y
float64 theta  # 指北角

4. Quick guid to run the driver for n100 IMU

4.1 Install ROS

You can find the full instalition steps in ROS wiki http://wiki.ros.org/melodic/Installation/Ubuntu

4.2 Create ROS workspace

(change it to your ROS1 distrbution, I use melodic dist.)

source /opt/ros/melodic/setup.bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

4.3 Add the driver to the workspace

sudo apt install ros-melodic-serial
cd ~/catkin_ws/src
git clone 
cd ~/catkin_ws/src/fdilink_ahrs
sudo sh wheeltec_udev.sh
cd ../../
catkin_make -DCATKIN_WHITELIST_PACKAGES=fdilink_ahrs

4.4 Launch the driver

Open two terminlas :

roscore    #Terminal 1

roslaunch fdilink_ahrs  ahrs_driver.launch  #Terminal 2

If "No port found or cannot open port" error shown use this command"

sudo chown :gp /dev/ttyUSB0

Now you can list all the topics

rostopic list

To show any topic in the list use echo /(the topic name) e.g. :

rostopic echo /imu_data

4.5 Visualize the data using rviz

Open new terminal and launch:

roslaunch fdilink_ahrs tf.launch

Open rviz

rviz

In rviz go to add >> By display type >> TF Also in Global options