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king@ubuntu:~$ roslaunch fdilink_ahrs ahrs_driver.launch
... logging to /home/king/.ros/log/b291930e-2c08-11ee-a637-48b02d788332/roslaunch-ubuntu-4716.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.2.174:37875/
SUMMARY
========
PARAMETERS
* /ahrs_driver/baud: 115200
* /ahrs_driver/debug: False
* /ahrs_driver/device_type: 0
* /ahrs_driver/imu_frame: gyro_link
* /ahrs_driver/imu_topic: /imu
* /ahrs_driver/mag_pose_2d_topic: /mag_pose_2d
* /ahrs_driver/port: /dev/fdilink_ahrs
* /rosdistro: noetic
* /rosversion: 1.16.0
NODES
/
ahrs_driver (fdilink_ahrs/ahrs_driver)
auto-starting new master
process[master]: started with pid [4724]
ROS_MASTER_URI=http://192.168.2.174:11311
setting /run_id to b291930e-2c08-11ee-a637-48b02d788332
process[rosout-1]: started with pid [4734]
started core service [/rosout]
process[ahrs_driver-2]: started with pid [4737]
[ INFO] [1690412637.420116143]: Serial Port initialized
[ INFO] [1690412637.421084552]: ahrsBringup::processLoop: start
[ WARN] [1690412637.476830990]: check crc16 faild(ahrs).
[ WARN] [1690412637.499135356]: check crc16 faild(ahrs).
[ WARN] [1690412637.521827604]: check crc16 faild(ahrs).
[ WARN] [1690412637.546666816]: check crc16 faild(imu).
[ WARN] [1690412637.565940567]: check crc16 faild(imu).
[ WARN] [1690412637.588929285]: check crc16 faild(ahrs).
[ WARN] [1690412637.633223438]: check crc16 faild(imu).
[ WARN] [1690412637.655956416]: check crc16 faild(imu).
[ WARN] [1690412637.677908960]: check crc16 faild(imu).
[ WARN] [1690412637.723112042]: check crc16 faild(imu).
[ WARN] [1690412637.744894593]: check crc16 faild(imu).
[ WARN] [1690412637.766857119]: check crc16 faild(imu).
[ WARN] [1690412637.792793393]: check crc16 faild(ahrs).
[ WARN] [1690412637.812036108]: check crc16 faild(ahrs).
[ WARN] [1690412637.834908779]: check crc16 faild(imu).
[ WARN] [1690412637.902051062]: check crc16 faild(imu).
[ WARN] [1690412637.923777525]: check crc16 faild(imu).
[ WARN] [1690412637.946036682]: check crc16 faild(ahrs).
[ WARN] [1690412637.971623661]: check crc16 faild(imu).
[ WARN] [1690412637.990946397]: check crc16 faild(imu).
[ WARN] [1690412638.012897666]: check crc16 faild(imu).
[ WARN] [1690412638.035833133]: check crc16 faild(imu).
[ WARN] [1690412638.060572670]: check crc16 faild(ahrs).
[ WARN] [1690412638.079841030]: check crc16 faild(ahrs).
[ WARN] [1690412638.102821835]: check crc16 faild(ahrs).
[ WARN] [1690412638.146783914]: check crc16 faild(ahrs).
[ WARN] [1690412638.169825095]: check crc16 faild(ahrs).
[ WARN] [1690412638.191790105]: check crc16 faild(ahrs).
[ WARN] [1690412638.217543516]: check crc16 faild(imu).
[ WARN] [1690412638.236808869]: check crc16 faild(imu).
[ WARN] [1690412638.258840846]: check crc16 faild(ahrs).
[ WARN] [1690412638.303810209]: check crc16 faild(imu).
[ WARN] [1690412638.325861191]: check crc16 faild(imu).
[ WARN] [1690412638.348826702]: check crc16 faild(imu).
ahrs_driver.launch文件配置如下：
<launch>
<node pkg="fdilink_ahrs" name="ahrs_driver" type="ahrs_driver" output="screen" >
<!-- 是否输出debug信息 -->
<param name="debug" value="false"/>
<!-- 串口设备，可通过rules.d配置固定 -->
<param name="port" value="/dev/fdilink_ahrs"/>
<!-- <param name="port" value="/dev/fdilink_ahrs"/> -->
<!-- 波特率 -->
<!--<param name="baud" value="921600"/>-->
<param name="baud" value="115200"/>
<!-- 发布的imu话题名 -->
<!--<param name="imu_topic" value="/mobile_base/sensors/imu_data"/>-->
<param name="imu_topic" value="/imu"/>
<!-- 发布的imu话题中的frame_id -->
<param name="imu_frame" value="gyro_link"/>
<!-- 地磁北的yaw角 -->
<param name="mag_pose_2d_topic" value="/mag_pose_2d"/>
<!-- 发布的数据基于不同设备有不同的坐标系 -->
<param name="device_type" value="0"/> <!-- 0: origin_data, 1: for single imu or ucar in ROS, 2:for Xiao in ROS --> //这里改成0和1都无效
</node>
<!--<include file='$(find fdilink_ahrs)/launch/tf.launch' />-->
</launch>
最后，通过rostopic echo /imu 查看话题事件，无数据
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发表于 2023-7-27 07:08:36
