Test reports for ROS1 version on different sensors about witmotion_imu_ros HOT 3 OPEN

HWT905 TTL, with original usb adapter

https://www.wit-motion.com/digital-inclinometer/witmotion-hwt905-ttl.html

• UP Xtreme I7 with Intel® Core™ i7-8665UE (up to 4.4 GHz),
• Ubuntu 20.04.4,
• kernel : 5.4.65-rt38+ (RT kernel)
• Ubuntu kernel version 5.4.0,
• Qt 5.12.8

TEST PROTOCOLE : visualization under ros/rviz with imu_tool plugin
Saving X,Y and Z position, and looking again later, to see presence or drift, moves in angles, or latency.

LIST OF TESTS MODE

1/ success : b = 115200, freq = 10hz, pp = 20ms, test duration : 10mn
2/ fail : b = 115200, freq = 10hz, pp = <20ms
3/ success : b = 115200, freq = 200hz, pp = 12ms, test duration : 08 Hours
4/ fail : b = 115200, freq = 200hz, pp = <12ms

from witmotion_imu_ros.

WT31N, open-circuit, TTL FTDI FT232 USB converter by Digilent

Intel Core i5-6200U CPU @ 2.30GHz, Mint Linux 22, Ubuntu kernel version 5.4.0, Qt 5.16.5

List of tested modes

(For ordinary test the typical duration is around 5 minutes)

Maximal duration of stable working (approx.)

Around 2 hours

Encountered issues and crashes

Crash due to unstable USB converter connection with polling period less than 15 ms.

witmotionctl-wt31n -b 115200 -i 10 --covariance --log
Opening device /dev/ttyUSB0 at 115200 baud
Creating multithreaded interface for Witmotion WT31N IMU sensor connected to ttyUSB0 at 115200 baud
Running reader thread
Waiting for the first packet acquired...
Opening device "ttyUSB0" at 115200 baud
Instantiating timer at 10 ms
Internal error occurred. Suspending the reader thread. Please check the sensor!
QObject::killTimer: Timers cannot be stopped from another thread
QObject::~QObject: Timers cannot be stopped from another thread
QSocketNotifier: Socket notifiers cannot be enabled or disabled from another thread
Suspending TTL connection, please emit RunPoll() again to proceed!
ERROR: No data acquired during last 3 iterations, please check the baudrate!
Average sensor return rate -nan s

Calculating noise covariance matrices...

Accelerations (total for 0 measurements): 
[	0	0.00000	0.00000
	0.00000	0	0.00000
	0.00000	0.00000	0	]

Angles (total for 0 measurements): 
[	0	0.00000	0.00000
	0.00000	0	0.00000
	0.00000	0.00000	0.00000	]

from witmotion_imu_ros.

WTGAHRS1 GPS IMU

Manual: https://m.media-amazon.com/images/I/81dW2zuBOeL.pdf
Software: https://www.wit-motion.cn/#/witmotion/literature/download?id=1526108478018232321

Machine: Nvidia Jetson Xavier NX, Jetpack 4.6, ARM64 architecture, Ubuntu 18.04 & ROS Melodic

Test Report

Important note:

According to the datasheet, this IMU supports the baudrate of range (4800 to 230400), and a frequency of (0.2Hz to 200Hz), but they need to be set in the windows software, then using the same configurations in the config.yaml file.
For example, if set to baudrate 230400 and frequency 200hz in the software, then the same baudrate must be used in the config file. Otherwise, the launch is success but there is no message output.

from witmotion_imu_ros.