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HiepLM aa3d832d5c git commit -m "first commit for v2"		2025-12-29 16:21:22 +07:00
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include/wit_wt901ble_reader	git commit -m "first commit for v2"	2025-12-29 16:21:22 +07:00
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src	git commit -m "first commit for v2"	2025-12-29 16:21:22 +07:00
CMakeLists.txt	git commit -m "first commit for v2"	2025-12-29 16:21:22 +07:00
package.xml	git commit -m "first commit for v2"	2025-12-29 16:21:22 +07:00
README.md	git commit -m "first commit for v2"	2025-12-29 16:21:22 +07:00

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