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IMU with android phone

asked 2016-06-27 07:17:46 -0500

Emilien gravatar image

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?

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answered 2019-09-30 08:32:58 -0500

RoboNerd gravatar image

[error 99] means IP (host) address is wrong. open terminal and enter

ifconfig

then write the IP of "local loopback" in the "host" as well as in the HYPER imu app settitngs then run

roscore and python gyro.py

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Asked: 2016-06-27 07:17:46 -0500

Seen: 436 times

Last updated: Sep 30