git commit -m "first commit for v2"

Devices/Packages/wit_wt901ble_reader/README.md

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+# 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
+
+    ```
+