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I can see topics, but no values on hwt905-ttl ?! #20

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elpimous opened this issue Jan 1, 2023 · 17 comments
Closed

I can see topics, but no values on hwt905-ttl ?! #20

elpimous opened this issue Jan 1, 2023 · 17 comments

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@elpimous
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elpimous commented Jan 1, 2023 •
edited by twdragon
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Hello, I bought your hwt905, ttl version.
Calibration on win10 ok.
restarted under ubuntu 20, under ros noetic
When i roslaunch : roslaunch witmotion_ros witmotion.launch,
imu seems to work :

roslaunch witmotion_ros witmotion.launch
... logging to /home/ylo2/.ros/log/3bbc653e-8a1d-11ed-9ad3-253eccaef672/roslaunch-ylo2-UP-WHL01-10499.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/ylo2/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

started roslaunch server http://ylo2-UP-WHL01:36477/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.14
 * /witmotion_imu/altimeter_publisher/addition: 0.0
 * /witmotion_imu/altimeter_publisher/coefficient: 1.0
 * /witmotion_imu/altimeter_publisher/enabled: True
 * /witmotion_imu/altimeter_publisher/topic_name: /altitude
 * /witmotion_imu/barometer_publisher/addition: 0.0
 * /witmotion_imu/barometer_publisher/coefficient: 1.0
 * /witmotion_imu/barometer_publisher/enabled: True
 * /witmotion_imu/barometer_publisher/frame_id: base_link
 * /witmotion_imu/barometer_publisher/topic_name: /barometer
 * /witmotion_imu/barometer_publisher/variance: 0.001
 * /witmotion_imu/baud_rate: 115200
 * /witmotion_imu/gps_publisher/enabled: False
 * /witmotion_imu/gps_publisher/ground_speed_topic_name: /gps_ground_speed
 * /witmotion_imu/gps_publisher/navsat_altitude_topic_name: /gps_altitude
 * /witmotion_imu/gps_publisher/navsat_fix_frame_id: world
 * /witmotion_imu/gps_publisher/navsat_fix_topic_name: /gps
 * /witmotion_imu/gps_publisher/navsat_satellites_topic_name: /gps_satellites
 * /witmotion_imu/gps_publisher/navsat_variance_topic_name: /gps_variance
 * /witmotion_imu/imu_publisher/frame_id: imu
 * /witmotion_imu/imu_publisher/measurements/acceleration/covariance: [0.0088, 0, 0, 0,...
 * /witmotion_imu/imu_publisher/measurements/acceleration/enabled: True
 * /witmotion_imu/imu_publisher/measurements/angular_velocity/covariance: [0.1199, 0, 0, 0,...
 * /witmotion_imu/imu_publisher/measurements/angular_velocity/enabled: True
 * /witmotion_imu/imu_publisher/measurements/orientation/covariance: [0.019, 0, 0, 0, ...
 * /witmotion_imu/imu_publisher/measurements/orientation/enabled: True
 * /witmotion_imu/imu_publisher/topic_name: /imu
 * /witmotion_imu/imu_publisher/use_native_orientation: False
 * /witmotion_imu/magnetometer_publisher/addition: 0.0
 * /witmotion_imu/magnetometer_publisher/coefficient: 1e-08
 * /witmotion_imu/magnetometer_publisher/covariance: [1.87123e-07, 0, ...
 * /witmotion_imu/magnetometer_publisher/enabled: True
 * /witmotion_imu/magnetometer_publisher/frame_id: imu
 * /witmotion_imu/magnetometer_publisher/topic_name: /magnetometer
 * /witmotion_imu/orientation_publisher/enabled: True
 * /witmotion_imu/orientation_publisher/topic_name: /orientation
 * /witmotion_imu/polling_interval: 150
 * /witmotion_imu/port: ttyUSB0
 * /witmotion_imu/restart_service_name: /restart_imu
 * /witmotion_imu/rtc_publisher/enabled: True
 * /witmotion_imu/rtc_publisher/presync: True
 * /witmotion_imu/rtc_publisher/topic_name: /witmotion_clock
 * /witmotion_imu/temperature_publisher/addition: 0.0
 * /witmotion_imu/temperature_publisher/coefficient: 1.0
 * /witmotion_imu/temperature_publisher/enabled: True
 * /witmotion_imu/temperature_publisher/frame_id: base_link
 * /witmotion_imu/temperature_publisher/from_message: magnetometer
 * /witmotion_imu/temperature_publisher/topic_name: /temperature
 * /witmotion_imu/temperature_publisher/variance: 0.02683

NODES
  /
    witmotion_imu (witmotion_ros/witmotion_ros_node)

auto-starting new master
process[master]: started with pid [10514]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3bbc653e-8a1d-11ed-9ad3-253eccaef672
process[rosout-1]: started with pid [10531]
started core service [/rosout]
process[witmotion_imu-2]: started with pid [10538]
Opening device "ttyUSB0" at 115200 baud
[ INFO] [1672609368.553916924]: Initiating RTC pre-synchonization: current timestamp 2023-01-01T22:42:48.553
[ INFO] [1672609368.554407922]: Configuration ROM: lock removal started
Instantiating timer at 150 ms
Configuration task detected, 1 commands in list, configuring sensor...
Sending configuration packet 0x69
Configuration packet sent, flushing buffers...
Configuration completed
Configuration task detected, 1 commands in list, configuring sensor...
Sending configuration packet 0x33
Configuration packet sent, flushing buffers...
Configuration completed
Configuration task detected, 1 commands in list, configuring sensor...
Sending configuration packet 0x32
Configuration packet sent, flushing buffers...
Configuration completed
Configuration task detected, 1 commands in list, configuring sensor...
Sending configuration packet 0x31
Configuration packet sent, flushing buffers...
Configuration completed
Configuration task detected, 1 commands in list, configuring sensor...
Sending configuration packet 0x30
Configuration packet sent, flushing buffers...
Configuration completed
[ INFO] [1672609373.555362664]: RTC pre-synchonization completed, saving configuration
Configuration task detected, 1 commands in list, configuring sensor...
Sending configuration packet 0x0
Configuration packet sent, flushing buffers...
Configuration completed
[ INFO] [1672609374.555630283]: RTC synchronized

Howerver, when I run : rostopic echo /altitude or rostopic echo /imu, I don't see any values ?!!

Any idea ?
@twdragon
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twdragon commented Jan 2, 2023

@elpimous try to run at first

rosrun witmotion_ros message_enumerator

then you will determine the exact set of messages your sensor produces. You should set the IMU measurement elements' enabled parameters exact matching the elements your sensor produces. Please refer to the message_enumerator application documentation to see the options.

If you will not see any messages, try to play with baud_rate parameter. It is the chance that the default baud rate and polling frequency of the sensor do not match the values you set in the node configuration.

@twdragon
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twdragon commented Jan 2, 2023

@elpimous as your sensor was never tested in ROS, all the contributors will be appreciated if you would write the test/experience report in the dedicated issue #16

@elpimous
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elpimous commented Jan 2, 2023 •
edited by twdragon
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@twdragon .
Hi Andrei, tested rosrun witmotion_ros message-enumerator -d ttyUSB0 -bxxx -pxxx
ttyUSB0 is the correct port,
tested with baud rate : 4800, 9600, 115200, 961200
tested each, with Instantiating timer : 5, 10, 20, ... 200. (each +10)

--------------------------------------------

WITMOTION UART MESSAGE ENUMERATOR BY TWDRAGON

Acquired at lundi 2 janvier 2023 14:48:32 CET

ID	Qty	Description


	Unknown IDs: 0 [  ] 
Total messages: 0**
--------------------------------------------

Seems impossible to make recognized to ros1

@elpimous
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elpimous commented Jan 2, 2023

I'm a bit disappointed, because I was looking for a Ros ready IMU (like my previous Myahrs+ one)

@twdragon
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twdragon commented Jan 2, 2023 •
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@elpimous is your user in dialout group? Did you try to see the bytes the sensor emits on minicom or screen?

It is really an interesting case because it seems that the output format malformed or the wrong communication protocol set in Windows

@elpimous
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elpimous commented Jan 2, 2023 •
edited
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1/ is your user in dialout group : yes

ylo2@ylo2-UP-WHL01:~$ sudo adduser ylo2 dialout
L'utilisateur « ylo2 » appartient déjà au groupe « dialout »

2/ minicom -D /dev/ttyUSB0 It returns strange lines of characters, but nothing readable.

Shound I modify anything on windows10 Wit software ??

@twdragon
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twdragon commented Jan 2, 2023

@elpimous It seems that the port settings in Linux for message-enumerator are still incorrect. Try to do the following:

  • Thoroughly review the communication settings you set for the sensor in the Windows program: baud rate, measurement frequency, data format;
  • The default baud rate for minicom is 115200 baud for the desktop system. Try to determine which baudrate (using the minicom -b <rate> command) allows you to see the bytes. It is also could be done using the minicom configuration menu;
  • Review the types of data your sensor produces (sometimes magnetometer and inclinometer are switched off by default)
  • Review the minicom settings to get the exact port parameters;
  • Try again message-enumerator with exact values of the port parameters set until you will see the list of messages.

You see the bytes on the minicom output, so the sensor throws some data, but the controller application cannot read them. It can happen due to the following:

  • Malformed protocol on the sensor's side (GPS instead of IMU);
  • Wrong baud rate;
  • Too small polling interval (start with 50ms, then try to increase or decrease, 150ms you have does not seem convenient);
  • Wrong measurement mode (for example, one-shot mode set using official Windows controller);
  • Hardware failure (for example, TTL-USB converter does not support the selected baudrate).

@elpimous
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elpimous commented Jan 2, 2023

Are those params OK?

IMG_20230102_205834
IMG_20230102_205954

@twdragon
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twdragon commented Jan 2, 2023

@elpimous the baudrate indicated is 921600 baud, it is the non-standard value that is not supported by libqt5serial. Try to change to 115200 baud, then repeat an experiment with message-enumerator.

@elpimous
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elpimous commented Jan 2, 2023 •
edited by twdragon
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Hello, SUCCESS !
changed in windows10 :

  • Baud changed to 115200,
  • bandwidth & output_rate to 10Hz
  • config.yml =
witmotion_imu:
    port: ttyUSB0
    baud_rate: 115200 # baud
    polling_interval: 10# ms
    restart_service_name: /restart_imu
    imu_publisher:
        topic_name: /imu
        frame_id: imu
        use_native_orientation: false
        measurements:
            acceleration:
                enabled: true
                covariance: [ 0.0088,    0,       0,
                              0,         0.0550,  0,
                              0,         0,       0.0267 ]
            angular_velocity:
                enabled: true
                covariance: [ 0.1199,    0,       0,
                              0,         0.5753,  0,
                              0,         0,       0.0267 ]
            orientation:
                enabled: true
                covariance: [ 0.0190,    0,       0,
                              0,         0.0120,  0,
                              0,         0,       0.0107 ]
    temperature_publisher:
        enabled: true
        topic_name: /temperature
        frame_id: base_link
        from_message: magnetometer # acceleration, angular_vel, orientation, magnetometer
        variance: 0.02683
        coefficient: 1.0 # Linear calibration parameters: coefficient
        addition: 0.0 # and addendum
    magnetometer_publisher:
        enabled: true
        topic_name: /magnetometer
        frame_id: imu
        coefficient: 0.00000001 # Linear calibration parameters: coefficient
        addition: 0.0 # and addendum
        covariance: [ 0.000000187123,   0,              0,
                      0,                0.000000105373, 0,
                      0,                0,              0.000000165816  ]
    barometer_publisher:
        enabled: false
        topic_name: /barometer
        frame_id: base_link
        variance: 0.001
        coefficient: 1.0 # Linear calibration parameters: coefficient
        addition: 0.0 # and addendum
    altimeter_publisher:
        enabled: false
        topic_name: /altitude
        coefficient: 1.0 # Linear calibration parameters: coefficient
        addition: 0.0 # and addendum
    orientation_publisher:
        enabled: true
        topic_name: /orientation
    gps_publisher:
        enabled: false
        navsat_fix_frame_id: world
        navsat_fix_topic_name: /gps
        navsat_altitude_topic_name: /gps_altitude
        navsat_satellites_topic_name: /gps_satellites
        navsat_variance_topic_name: /gps_variance
        ground_speed_topic_name: /gps_ground_speed
    rtc_publisher:
        enabled: true
        topic_name: /witmotion_clock
        presync: true

@elpimous
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elpimous commented Jan 2, 2023 •
edited by twdragon
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ros command :

roslaunch witmotion_ros witmotion.launch
... logging to /home/ylo2/.ros/log/a002618c-8ae1-11ed-b48c-adb2194ffe95/roslaunch-ylo2-UP-WHL01-7702.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ylo2-UP-WHL01:40597/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.14
 * /witmotion_imu/altimeter_publisher/addition: 0.0
 * /witmotion_imu/altimeter_publisher/coefficient: 1.0
 * /witmotion_imu/altimeter_publisher/enabled: False
 * /witmotion_imu/altimeter_publisher/topic_name: /altitude
 * /witmotion_imu/barometer_publisher/addition: 0.0
 * /witmotion_imu/barometer_publisher/coefficient: 1.0
 * /witmotion_imu/barometer_publisher/enabled: False
 * /witmotion_imu/barometer_publisher/frame_id: base_link
 * /witmotion_imu/barometer_publisher/topic_name: /barometer
 * /witmotion_imu/barometer_publisher/variance: 0.001
 * /witmotion_imu/baud_rate: 115200
 * /witmotion_imu/gps_publisher/enabled: False
 * /witmotion_imu/gps_publisher/ground_speed_topic_name: /gps_ground_speed
 * /witmotion_imu/gps_publisher/navsat_altitude_topic_name: /gps_altitude
 * /witmotion_imu/gps_publisher/navsat_fix_frame_id: world
 * /witmotion_imu/gps_publisher/navsat_fix_topic_name: /gps
 * /witmotion_imu/gps_publisher/navsat_satellites_topic_name: /gps_satellites
 * /witmotion_imu/gps_publisher/navsat_variance_topic_name: /gps_variance
 * /witmotion_imu/imu_publisher/frame_id: imu
 * /witmotion_imu/imu_publisher/measurements/acceleration/covariance: [0.0088, 0, 0, 0,...
 * /witmotion_imu/imu_publisher/measurements/acceleration/enabled: True
 * /witmotion_imu/imu_publisher/measurements/angular_velocity/covariance: [0.1199, 0, 0, 0,...
 * /witmotion_imu/imu_publisher/measurements/angular_velocity/enabled: True
 * /witmotion_imu/imu_publisher/measurements/orientation/covariance: [0.019, 0, 0, 0, ...
 * /witmotion_imu/imu_publisher/measurements/orientation/enabled: True
 * /witmotion_imu/imu_publisher/topic_name: /imu
 * /witmotion_imu/imu_publisher/use_native_orientation: False
 * /witmotion_imu/magnetometer_publisher/addition: 0.0
 * /witmotion_imu/magnetometer_publisher/coefficient: 1e-08
 * /witmotion_imu/magnetometer_publisher/covariance: [1.87123e-07, 0, ...
 * /witmotion_imu/magnetometer_publisher/enabled: True
 * /witmotion_imu/magnetometer_publisher/frame_id: imu
 * /witmotion_imu/magnetometer_publisher/topic_name: /magnetometer
 * /witmotion_imu/orientation_publisher/enabled: True
 * /witmotion_imu/orientation_publisher/topic_name: /orientation
 * /witmotion_imu/polling_interval: 150
 * /witmotion_imu/port: ttyUSB0
 * /witmotion_imu/restart_service_name: /restart_imu
 * /witmotion_imu/rtc_publisher/enabled: True
 * /witmotion_imu/rtc_publisher/presync: True
 * /witmotion_imu/rtc_publisher/topic_name: /witmotion_clock
 * /witmotion_imu/temperature_publisher/addition: 0.0
 * /witmotion_imu/temperature_publisher/coefficient: 1.0
 * /witmotion_imu/temperature_publisher/enabled: True
 * /witmotion_imu/temperature_publisher/frame_id: base_link
 * /witmotion_imu/temperature_publisher/from_message: magnetometer
 * /witmotion_imu/temperature_publisher/topic_name: /temperature
 * /witmotion_imu/temperature_publisher/variance: 0.02683

NODES
  /
    witmotion_imu (witmotion_ros/witmotion_ros_node)

auto-starting new master
process[master]: started with pid [7717]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a002618c-8ae1-11ed-b48c-adb2194ffe95
process[rosout-1]: started with pid [7734]
started core service [/rosout]
process[witmotion_imu-2]: started with pid [7741]
Opening device "ttyUSB0" at 115200 baud
[ INFO] [1672693718.135335866]: Initiating RTC pre-synchonization: current timestamp 2023-01-02T22:08:38.135
[ INFO] [1672693718.135874375]: Configuration ROM: lock removal started
Instantiating timer at 150 ms
Configuration task detected, 1 commands in list, configuring sensor...
Sending configuration packet 0x69
Configuration packet sent, flushing buffers...
Configuration completed
Configuration task detected, 1 commands in list, configuring sensor...
Sending configuration packet 0x33
Configuration packet sent, flushing buffers...
Configuration completed
Configuration task detected, 1 commands in list, configuring sensor...
Sending configuration packet 0x32
Configuration packet sent, flushing buffers...
Configuration completed
Configuration task detected, 1 commands in list, configuring sensor...
Sending configuration packet 0x31
Configuration packet sent, flushing buffers...
Configuration completed
Configuration task detected, 1 commands in list, configuring sensor...
Sending configuration packet 0x30
Configuration packet sent, flushing buffers...
Configuration completed
[ INFO] [1672693723.136747909]: RTC pre-synchonization completed, saving configuration
Configuration task detected, 1 commands in list, configuring sensor...
Sending configuration packet 0x0
Configuration packet sent, flushing buffers...
Configuration completed
[ INFO] [1672693724.137026460]: RTC synchronized

rostopic :

rostopic echo /imu
header: 
  seq: 4592
  stamp: 
    secs: 1672694175
    nsecs:  36364410
  frame_id: "imu"
orientation: 
  x: 0.014039034877760788
  y: -0.00643245922189693
  z: 0.9214943385342607
  w: 0.38808467248445305
orientation_covariance: [0.01899999938905239, 0.0, 0.0, 0.0, 0.012000000104308128, 0.0, 0.0, 0.0, 0.010700000450015068]
angular_velocity: 
  x: 0.0
  y: 0.0
  z: 0.0
angular_velocity_covariance: [0.11990000307559967, 0.0, 0.0, 0.0, 0.5752999782562256, 0.0, 0.0, 0.0, 0.02669999934732914]
linear_acceleration: 
  x: 0.30177247524261475
  y: -0.009580078534781933
  z: 9.786049842834473
linear_acceleration_covariance: [0.008799999952316284, 0.0, 0.0, 0.0, 0.054999999701976776, 0.0, 0.0, 0.0, 0.02669999934732914]
---

@twdragon
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twdragon commented Jan 2, 2023

@elpimous COMPLIMENTS!

If you would prepare the test report for #16 I will be very appreciated!

I will close the issue a bit later as the completed task

@elpimous
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elpimous commented Jan 2, 2023

@twdragon what is the maximum Hz could I try ?
Need the fastest, to control my quadruped robot (torque mode)
Of course, i'll report my test on #16

@twdragon
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twdragon commented Jan 2, 2023

@elpimous thank you!

I tested the existing modules on 115200 baud, 200 Hz measurement rate (that corresponds to appr. 180 Hz message drop rate). I suggest you start with a 100 Hz and 12ms polling rate. Then try to increase it to 125 and 200 Hz on a 10 ms polling rate, and decrease the polling rate to 5 only if all the previous attempts generate stable output without crashes.

@twdragon twdragon closed this as completed Jan 3, 2023
@twdragon
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twdragon commented Jan 3, 2023

Documented as a troubleshooting advice: https://wiki.ros.org/witmotion_ros#Non-standard_baudrates

@SunilSrivatsav9
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How can we control the measurement rate in ROS package. Is there any parameter for measurement rate (frequency). I found only baud rate and Polling rate but didn't find the measurement rate.

@twdragon
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@SunilSrivatsav9 The measurement rate should be set on the sensor directly because the IMU message contains 3 independent packets dropped by the sensor. So you need to use the controller application (JY901 one in the underlying library may be sufficient) to set the measurement rate. It is also internally dependent on the selected baudrate, so it cannot be adequately documented.

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@elpimous @twdragon @SunilSrivatsav9