IMU with android phone

edit

hi, i try to publish imu data from my mobile phone with HyperIMU application, i use this script:

import rospy import socket import tf from sensor_msgs.msg import Imu from geometry_msgs.msg import Vector3 from math import sqrt,atan2,cos,sin,pi

def imu_publisher(sock): host="192.168.42.185" port=5555 theta = 0 gyro_x_offset = 0.0 gyro_y_offset = 0.0 gyro_z_offset = 0.0 pub_freq = 10 alpha = 0.9 count = 0 num_callibration_itrs = 60 debug = False

gyro_pub = rospy.Publisher('gyro', Vector3, queue_size=50)
imu_pub = rospy.Publisher('imu', Imu, queue_size=50)
rospy.init_node('imu_publisher', anonymous=True)
rate = rospy.Rate(pub_freq)
if rospy.has_param('~num_callibration_itrs'):
    num_callibration_itrs = rospy.get_param('~num_callibration_itrs')
if rospy.has_param('~host'):
    host = rospy.get_param('~host')
if rospy.has_param('~debug'):
    debug = rospy.get_param('~debug')

sock.bind((host,port))

current_time = rospy.Time.now()
last_time = rospy.Time.now()

rospy.loginfo("waiting for device...")
while not rospy.is_shutdown():
    data,addr = sock.recvfrom(1024)
    line = data.split(',')
    if len(line) == 4:  #received complete packet
        current_time = rospy.Time.now()
        gyro_x = float(line[0])
        gyro_y = float(line[1])
        gyro_z = float(line[2])
        if count < num_callibration_itrs:
            gyro_x_offset += gyro_x
            gyro_y_offset += gyro_y
            gyro_z_offset += gyro_z
            count += 1
        elif count == num_callibration_itrs and

num_callibration_itrs != 0: gyro_x_offset /= num_callibration_itrs gyro_y_offset /= num_callibration_itrs gyro_z_offset /= num_callibration_itrs rospy.loginfo("finished callibrating yaw") count += 1

        #publish ros Imu message
        else:
            gyro_x -= gyro_x_offset
            gyro_y -= gyro_y_offset
            gyro_z -= gyro_z_offset

            #discretize readings to round off noise
            #gyro_x = float(int(gyro_x*100))/100.0;
            #gyro_y = float(int(gyro_y*100))/100.0;
            #gyro_z = float(int(gyro_z*100))/100.0;
            if debug:
                rospy.loginfo('x %s y %s z %s', gyro_x, gyro_y, gyro_z)
            gyro_msg = Vector3()
            gyro_msg.x = gyro_x
            gyro_msg.y = gyro_y
            gyro_msg.z = gyro_z
            gyro_pub.publish(gyro_msg)

            dt = current_time.to_sec() -

last_time.to_sec() theta += dt*gyro_z imu_msg = Imu() imu_msg.header.stamp = rospy.Time.now() imu_msg.header.frame_id = '/base_link' q = tf.transformations.quaternion_from_euler(0.0, 0.0, theta) imu_msg.orientation.x = q[0] imu_msg.orientation.y = q[1] imu_msg.orientation.z = q[2] imu_msg.orientation.w = q[3] imu_msg.orientation_covariance = [1e6, 0, 0, 0, 1e6, 0, 0, 0, 1e-6] imu_msg.angular_velocity_covariance[0] = -1 imu_msg.linear_acceleration_covariance[0] = -1 imu_pub.publish(imu_msg) last_time = current_time #rate.sleep() else: rospy.loginfo("received incomplete UDP packet from android IMU") continue

if __name__ == '__main__': try: sock=socket.socket(socket.AF_INET, socket.SOCK_DGRAM) sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1) imu_publisher(sock) except rospy.ROSInterruptException: pass

But when i run this node, i receive this error: Traceback (most recent call last): line 106, in <module> imu_publisher(sock) line 36, in <module> imu_publisher sock.binf((host,port)) line 224, in meth return getattr(self._sock,name)(*args) socket.error: [Errno 99] Cannot assign requested address what can i do please?