AMR_T800/Devices/Packages/wit_wt901ble_reader/README.md

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