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Provide installation guidance in Readme.md #2
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Step 2, followed by a non-recursive clone of witmotion_IMU_ros (recursive gave errors) in a caktin workspace, |
@rlabs-oss you need just to make a recursive clone. I will provide tge installation guide soon. Thank you for the feedback! |
As mentioned that didn't work so I manually cloned the required parts. I'm happy to report it is working now, I also contacted witmotion for support on configuring the 901c. git clone --recursive https://github.com/ElettraSciComp/witmotion_IMU_ros Please make sure you have the correct access rights Please make sure you have the correct access rights |
@rlabs-oss it will be also really great if you would provide any documentation for 901C sensor to examine for differences in command formulation and tests for the library! |
witmotion sent https://drive.google.com/file/d/1WPgvIaYERJsWvHeQy4A3UGKF7UWm9aJ8/view?usp=sharing"For the intended application Im not sure if the EKF is causing problems since the Lidar when used with FASTER_LIO assumes raw readings and it computes its own pose using iterative EKF. Ive set the filter to 286hz and output rate to 200hz, with baud at 230400. The witmotion 901 is generating the orientation in addition to the acceleration and velocity. The Lidar (in this example a Livox Avia) sets the orientation quarternions to 0 and angular_velocity and lin acceleation as the witmotion IMU, so that looks "ok" - however in practice using the Livox Mid 40 (a lidar without IMU) the scan is invalid. Filter above 200hz according to the witmotion manual turns off filtering - but I need to debug this more. Do you know of any ros tools that will generate a plot of the IMU data so I can compare them? Couple of examples below from the Avia and 901C The Livox Avia IMU example:-
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@rlabs-oss thank you! Added to the wiki. Working on the guide |
@rlabs-oss in fact I did not find any tool suitable for you now. I suggest you to write a simple script in Python which can capture IMU messages comparing their timestamps and actual wall timer value when they were received. |
@rlabs-oss Can you please also open a separate issue for this discussion? |
@rlabs-oss if you have also some graphics or a short screencast with IMU state visualization, could you please add the information about visualization (with the link to the plugin) to ROS wiki? I am now overloaded a bit. |
Please provide some installation guidance within the readme.
Had to figure out the hard way which required packages where missing. Could look like:
Installation
cd catkin_ws/src git clone --recursive https://github.com/ElettraSciComp/witmotion_IMU_ros.git
if the recursive clone fails clone the uart-qt repository manually into the witmotion-uart-qt folder
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