# Requirements:
- Ubuntu 20.04.6 LTS
- ROS Noetic
- Install SDL library:
    ```
    sudo apt-get install libsdl-image1.2-dev
    sudo apt-get install libsdl-dev
    ```
- Install libudev-dev:
    ```
    sudo apt install libudev-dev
    ```
- Install Serial package:
    ```
    sudo apt-get install ros-noetic-serial
    ```
# Wiring and configurations:
- Following on wiki website: https://drive.google.com/drive/folders/1NlOFHSTYNy2bRAfaA0S25BEaXK4uvia9

# Build:
- Direct to the workspace and run command:
    ```
    catkin_make
    ```
# Run:
- Configure parametters in .launch file:
    ```
    <!-- Tốc độ baud của cổng serial -->
    <arg name="baudrate" value="115200"/>

    <!-- Tên cổng USB kết nối với cảm biến -->
    <arg name="portname" value="/dev/USB_IMU"/>

    <!-- Tên topic dữ liệu cảm biến -->
    <arg name="topic_name" value="/imu" />

    <!-- Frame id -->
    <arg name="frame_id" value="imu" />
    ```
- Permit the serial port:
    ```
    sudo chmod 777 /dev/USB_IMU
    ```
- Run the lannch file:
    ```
    roslaunch wit_wt901ble_reader wit_wt901ble_reader.launch
    ```
# Messages of datas: 

- The output message of the IMU: 
    ```
    name: custom topic name in wit_wt901ble_reader wit_wt901ble_reader.launch
    <arg name="topic_name" value="/imu" />

    type: sensor_msgs/Imu.msg

    ```

