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C++/Qt library for the family of IMU sensor devices manufactured by Witmotion Ltd.

License: MIT License

CMake 2.58% C++ 97.42%

witmotion_imu_qt's Introduction

Witmotion Sensors UART Connection Library

This library implements TTL/UART connections to the inertial pose estimation units (IMUs) manufactured by WitMotion Shenzhen Co.,Ltd

ROS integration

The main purpose of creation of this library was to provide ROS-compatible integration for Witmotion sensors. Please refer to the following repositories for detailed description. Also, these repositories can be used as a source for coding examples.

Online Autogenerated Documentation

The autogenerated (by Doxygen) documentation of the library can be found on https://elettrascicomp.github.io/witmotion_IMU_QT

Citation

The release packages of the library are published on Zenodo. If you use, contribute or base your own work on the library and publish it, it is strongly encouraged to cite the corresponding Zenodo record.

Modern BibTeX/Biber

@software{andrei_vukolov_2022_7017118,
  author       = {Vukolov, Andrey},
  title        = {ElettraSciComp/witmotion\_IMU\_QT: Version 0.9.17},
  month        = August,
  year         = 2022,
  publisher    = {Zenodo},
  version      = {v0.9.17-alpha},
  doi          = {10.5281/zenodo.7017118},
  url          = {https://doi.org/10.5281/zenodo.7017118}
}

Plain BibTeX

@misc{andrei_vukolov_2022_7017118,
  author       = {Vukolov, Andrey},
  title        = {ElettraSciComp/witmotion\_IMU\_QT: Version 0.9.17},
  year         = 2022,
  publisher    = {Zenodo},
  doi          = {10.5281/zenodo.7017118},
  howpublished = {Github Releases \url{https://github.com/ElettraSciComp/witmotion_IMU_QT/releases/tag/v0.9.17-alpha}}
}

witmotion_imu_qt's People

Contributors

Stargazers

Watchers

Forkers

bju-robotics helloworldrobotics taislab lscm-jeffreyfu

witmotion_imu_qt's Issues

Added WT31N controller application

@rlabs-oss added example control application for WT31N

Standalone controller application validation

Sensor	Controller available	Controller validated
WT31N	✔️	✔️
WT901	✔️	✔️
JY901B	✔️	✔️

[Community assistance needed] Create installation/packaging script

The library needs to be ready for installation, or, the best, for being packaged into Debian package. The contribution to creating this script will be strongly encouraged.

Controller validation: WT901

Validation status

Data acquisition: ✔️
Calibration: ✔️
Baudrate change: ✔️
Polling interval change: ✔️
Biases setup: ✔️ - hacked for Acceleration bias setup, Angular velocities and Magnetic field biases are WIP

Conclusion

Witmotion's vendor documentation seems non-plausible. Waiting for confirmation from the vendor

[Community assistance needed] Implementation of subdirectory/submodule-based link

The library needs to be ready for being used as the subdirectory/submodule of the existing project. The contribution to implementing this ability will be strongly encouraged.

Bias setting: angular velocity and magnetic field

Now in the controller application, there is no possibility to set a hardware zero on angular velocity or magnetometer. The procedure of correct setting generation is not described in the official documentation. Attempts to hack the process seemed destructive (it is possible that the wrong hardware zero setting may also damage the magnetometer). WitMotion Shenzhen Co.,Ltd did not reply to any request to describe the procedure of the bias setting.

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