Fxaxo's profile - activity

i tried to use this Github File: https://github.com/ros-drivers/um7.git i used git clone to download it, changed the CMakeLists.txt and tried the Command catkin_make. But it doesnt work i get the fatal Error back. I used already the geometry_msgs/Vector3 without problems but Vector3Stamped doesnt work... is there any Library to replace it ? or do anybody have a tip what i can Install to let it work ?

i use a Raspberry Pi4, Ubuntu 20.04 (focal) and Ros Noetic

i added the first the Error output, then the changes in the CMakeLists.txt and then the complete cpp File here :

Error if i let geometry_msgs/Vector3Stamped.h active :

/home/ubuntu/um7_driver/src/um7/src/main.cpp:37:10: fatal error: geometry_msgs/Vector3Stamped.h: No such file or directory 37 | #include "geometry_msgs/Vector3Stamped.h" | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ compilation terminated. make[2]: * [CMakeFiles/um7_driver_2.dir/build.make:63: CMakeFiles/um7_driver_2.dir/um7/src/main.cpp.o] Error 1 make[1]: [CMakeFiles/Makefile2:1097: CMakeFiles/um7_driver_2.dir/all] Error 2 make[1]: Waiting for unfinished jobs.... [ 1%] Built target std_msgs_generate_messages_cpp [ 1%] Built target _actionlib_msgs_generate_messages_check_deps_GoalStatus [ 1%] Built target _rosserial_msgs_generate_messages_check_deps_TopicInfo make: * [Makefile:141: all] Error 2

Invoking "make -j4 -l4" failed

Error if i comment geometry_msgs/Vector3Stamped out:

/home/ubuntu/um7_driver/src/um7/src/main.cpp:38:10: fatal error: ros/ros.h: No such file or directory 38 | #include "ros/ros.h" | ^~~~~~~~~~~ compilation terminated. make[2]: * [CMakeFiles/um7_driver_2.dir/build.make:63: CMakeFiles/um7_driver_2.dir/um7/src/main.cpp.o] Error 1 make[1]: [CMakeFiles/Makefile2:1097: CMakeFiles/um7_driver_2.dir/all] Error 2 make[1]: Waiting for unfinished jobs.... [ 1%] Built target std_msgs_generate_messages_nodejs [ 1%] Built target _actionlib_msgs_generate_messages_check_deps_GoalID [ 1%] Built target _actionlib_msgs_generate_messages_check_deps_GoalStatusArray make: * [Makefile:141: all] Error 2 Invoking "make -j4 -l4" failed

Changes in CMakeLists.txt :

catkin_workspace()

include_directories( ${catkin_INCLUDE_DIRS})

add_executable( um7_driver_2 /home/ubuntu/um7_driver/src/um7/src/main.cpp ) target_link_libraries( um7_driver_2 ${catkin_LIBRARIES} )

the new CMakeLists.txt:

cmake_minimum_required(VERSION 2.8.3) project(um7_test)

find_package(catkin REQUIRED COMPONENTS roscpp serial sensor_msgs message_generation)

add_service_files( FILES Reset.srv )

generate_messages()

catkin_package( INCLUDE_DIRS include CATKIN_DEPENDS message_runtime )

#

Build

#

Specify additional locations of header files

Your package locations should be listed before other locations

include_directories(include ${catkin_INCLUDE_DIRS} )

Declare a cpp executable

add_executable(um7_driver src/main.cpp src/registers.cpp src/comms.cpp) target_link_libraries(um7_driver ${catkin_LIBRARIES} ) add_dependencies(um7_driver um7_generate_messages_cpp)

#

Install

#

install(TARGETS um7_driver RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} )

#

Testing

#

if(CATKIN_ENABLE_TESTING) find_package(roslint REQUIRED) catkin_add_gtest(${PROJECT_NAME}_test_registers test/test_registers.cpp src/registers.cpp) catkin_add_gtest(${PROJECT_NAME}_test_comms test/test_comms.cpp src/comms.cpp src/registers.cpp) target_link_libraries(${PROJECT_NAME}_test_comms util ${catkin_LIBRARIES})

file(GLOB LINT_SRCS src/*.cpp include/um7/registers.h include/um7/comms.h) roslint_cpp(${LINT_SRCS}) roslint_add_test() endif()

include_directories( ${catkin_INCLUDE_DIRS})

add_executable( um7_driver_2 /home/ubuntu/um7_driver/src/um7/src/main.cpp ) target_link_libraries( um7_driver_2 ${catkin_LIBRARIES} )

Complete cpp File main.cpp:

/** * * \file * \brief Main entry point for UM7 driver. Handles serial connection * details, as well as all ROS message stuffing, parameters, * topics, etc. * \author Mike Purvis mpurvis@clearpathrobotics.com (original code for UM6) * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. * \author Alex Brown rbirac@cox.net ... (more)

i tried to visualize a UM7 Sensor from Redshift Labs ! with rotopic list i receive my /imu/data ! with rostopic echo i receive all my needed Data ( the Orientation of the Sensor ) and i can include the /imu/data in rviz IMU and can see that Messages receivin ! i can also include the Fabio_TF in the fixed Frame but when i try to start it i wont receive any Data in the rviz Window and there is the Error No TF Data marked in yellow!

this is my Publisher Node;

#!/usr/bin/env python3

import rospy                    # Library to use Python
import numpy as np
from geometry_msgs.msg import Point, Pose, Quaternion
from sensor_msgs.msg import Imu
from std_msgs.msg import Float32, Header    # Library to use IMU
from um7py import UM7Serial

############################################### Name of the Imu ######
imuData_pub = rospy.Publisher("/imu/data", Imu, queue_size=10)

############################################### Tranformation from Euler to Quat ######
def euler_to_quat(yaw, pitch, roll):
    q0 = np.sin(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) - np.cos(roll/2) * np.sin(pitch/2) * np.sin(yaw/2)
    q1 = np.cos(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.cos(pitch/2) * np.sin(yaw/2)
    q2 = np.cos(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) - np.sin(roll/2) * np.sin(pitch/2) * np.cos(yaw/2)
    q3 = np.cos(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.sin(pitch/2) * np.sin(yaw/2)
    return [q0, q1, q2, q3]

############################################## Read the Sensor
def read_um7():
    um7_serial = UM7Serial(port_name='/dev/ttyUSB0')

    for packet in um7_serial.recv_broadcast(num_packets = 1000):

        yaw = packet.yaw
        roll = packet.roll
        pitch = packet.pitch

        w1 = packet.roll_rate
        w2 = packet.pitch_rate
        w3 = packet.yaw_rate

############################################ Formula to change the Euler to Quaternion
        q0 = np.sin(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) - np.cos(roll/2) * np.sin(pitch/2) * np.sin(yaw/2)
        q1 = np.cos(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.cos(pitch/2) * np.sin(yaw/2)
        q2 = np.cos(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) - np.sin(roll/2) * np.sin(pitch/2) * np.cos(yaw/2)
        q3 = np.cos(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.sin(pitch/2) * np.sin(yaw/2)

############################################ Start Header Msgs
        Fabio_Imu.header.seq = 0            # Growing Var   
        Fabio_Imu.header.stamp = rospy.Time.now()   # Timestamp
        Fabio_Imu.header.frame_id = "Fabio_TF"  # Name of Frame

        Fabio_Imu.orientation.x = q0            # Quat Data in orient. Lib
        Fabio_Imu.orientation.y = q1
        Fabio_Imu.orientation.z = q2
        Fabio_Imu.orientation.w = q3

        #Fabio_Imu.angular_velocity.x = Quaternion[0]
        #Fabio_Imu.angular_velocity.y = Quaternion[0]
        #Fabio_Imu.angular_velocity.z = Quaternion[0]

        #Fabio_Imu.linear_acceleration.x = Quaternion[0]
        #Fabio_Imu.linear_acceleration.y = Quaternion[0]
        #Fabio_Imu.linear_acceleration.z = Quaternion[0]

        imuData_pub.publish(Fabio_Imu)      # Publish the Node

########################################################
############################## Main ####################
########################################################

if __name__ == '__main__':
    rospy.loginfo('UM7_Sensor started')         # just print command
    rospy.init_node('test_1_IMU')               # Name of Init_Node
    Fabio_Imu = Imu()
    while not ...