59 lines
1.3 KiB
Markdown
Executable File
59 lines
1.3 KiB
Markdown
Executable File
# Requirements:
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- Ubuntu 20.04.6 LTS
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- ROS Noetic
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- Install SDL library:
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```
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sudo apt-get install libsdl-image1.2-dev
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sudo apt-get install libsdl-dev
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```
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- Install libudev-dev:
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```
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sudo apt install libudev-dev
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```
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- Install Serial package:
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```
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sudo apt-get install ros-noetic-serial
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```
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# Wiring and configurations:
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- Following on wiki website: https://drive.google.com/drive/folders/1NlOFHSTYNy2bRAfaA0S25BEaXK4uvia9
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# Build:
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- Direct to the workspace and run command:
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```
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catkin_make
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```
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# Run:
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- Configure parametters in .launch file:
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```
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<!-- Tốc độ baud của cổng serial -->
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<arg name="baudrate" value="115200"/>
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<!-- Tên cổng USB kết nối với cảm biến -->
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<arg name="portname" value="/dev/USB_IMU"/>
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<!-- Tên topic dữ liệu cảm biến -->
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<arg name="topic_name" value="/imu" />
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<!-- Frame id -->
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<arg name="frame_id" value="imu" />
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```
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- Permit the serial port:
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```
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sudo chmod 777 /dev/USB_IMU
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```
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- Run the lannch file:
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```
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roslaunch wit_wt901ble_reader wit_wt901ble_reader.launch
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```
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# Messages of datas:
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- The output message of the IMU:
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```
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name: custom topic name in wit_wt901ble_reader wit_wt901ble_reader.launch
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<arg name="topic_name" value="/imu" />
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type: sensor_msgs/Imu.msg
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```
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