Microstrain 3DM-GX5-25 not streaming filtered data.

asked 2018-05-07 17:57:19 -0500

jh3113 gravatar image

Hi there.

I am having an issue when trying to implement a 3DM-GX5-25 on my platform. I am trying to only utilize the filtered data.

This is my launch file for the IMU that I am using:

<?xml version="1.0"?>
<launch>

<arg name="plot" default="false"/>
<arg name="diagnostic" default="false"/>

<!-- Microstain sensor node -->
<node name="microstrain_3dm_gx5_25_node"
pkg="microstrain_3dm_gx5_45"
type="microstrain_3dm_gx5_45_node" output="screen">
<param name="port" value="/dev/ttyACM1" type="str" />
<param name="baudrate" value="115200" type="int" />

<param name="device_setup" value="true" type="bool" />
<!-- General Settings -->
<param name="readback_settings" value="true" type="bool" />
<param name="save_settings" value="true" type="bool" />
<param name="auto_init" value="true" type="bool" />

<!-- The GX5-25 is AHRS only, so need to turn off the other messages -->
<!-- AHRS Settings -->
<param name="publish_imu" value="true" type="bool" />
<param name="imu_rate" value="10" type="int" />
<param name="imu_frame_id" value="imu_link" type="str" />
<!-- Setting manual declination is not yet implemented/testes -->
<!-- Declination source 1=None, 2=magnetic, 3=manual -->
<param name="declination_source" value="2" type="int" />
<param name="declination" value="0.0" type="double" />

<!-- GPS Settings  -45 and -35 Only -->
<param name="gps_rate" value="4" type="int" />
<param name="gps_frame_id" value="navsat_link" type="str" />
<param name="publish_gps" value="false" type="bool" />

<!-- Filter Settings -->
<param name="publish_odom" value="true" type="bool" />
<param name="nav_rate" value="10" type="int" />
<param name="dynamics_mode" value="2" type="int" />
<param name="odom_frame_id" value="imu_link" type="str" />
<param name="odom_child_frame_id" value="base_link" type="str" />
</node>

<!-- Diagnostics -->

<node if="$(arg diagnostic)" pkg="rqt_topic" type="rqt_topic" name="rqt_topic"/>

<!-- <node pkg="rqt_plot" type="rqt_plot" name="pid_setpoints" args="/yaw_pid_debug/Setpoint /vel_pid_debug/Setpoi$

<node if="$(arg plot)" pkg="rqt_plot" type="rqt_plot" name="imu_accel" args="/imu/data/linear_acceleration/x /imu/$


</launch>

This is the (condensed) output that I get when I launch my IMU node.

   [ INFO] [1525733203.017454391]: Attempting to open serial port </dev/ttyACM1> at <115200> 
   [ INFO] [1525733203.017979448]: Putting device communications into 'standard mode'
   [ INFO] [1525733203.021593264]: Verify comm's mode
   [ INFO] [1525733203.027787265]: Sleep for a second...
   [WARN] [1525733203.114168]: Received a sentence with an invalid checksum. Sentence was: '\r\n'
   [ INFO] [1525733203.528150768]: Right mode?
   [ INFO] [1525733203.528245882]: Idling Device: Stopping data streams and/or waking from sleep
   [ INFO] [1525733203.591486126]: Using plugin "obstacles_laser"
   [ INFO] [1525733203.598806586]:     Subscribed to Topics: laser
   [ INFO] [1525733203.623585125]: Using plugin "inflation"
   [ INFO] [1525733203.686853185]: Using plugin "obstacles_laser"
   [ INFO] [1525733203.688683645]:     Subscribed to Topics: laser
   [ INFO] [1525733203.713438962]: Using plugin "inflation"
   [ INFO] [1525733203.762962563]: Created local_planner dwa_local_planner/DWAPlannerROS
   [ INFO] [1525733203.768184388]: Sim period is set to 0.20
   [ INFO] [1525733204.006819814]: Recovery behavior will clear layer obstacles
   [ INFO] [1525733204.014040339]: Recovery behavior will clear layer obstacles
   [ INFO] [1525733204.041571777]: AHRS Base Rate => 1000 Hz
   [ INFO] [1525733204.541754259]: AHRS decimation set to 0X64
   [ INFO] [1525733204.541843290]: Setting the AHRS message format
   [ INFO] [1525733205.045749920]: Poll AHRS data to verify
   [ INFO] [1525733205.549819216]: Saving AHRS data settings
   [ INFO] [1525733206.053785785]: Setting declination source to 0X02
   [ INFO] [1525733206.557755040]: Reading back declination source
   [ INFO] [1525733206.561632852]: Success: Declination source set to 0X02
   [ INFO] [1525733207 ...
(more)
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Comments

If you're still having problems you can try this slightly modified version of the original driver. It's been tested with the GX5-25.

stevejp gravatar imagestevejp ( 2018-06-04 07:18:15 -0500 )edit