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How to use mpu9250? #10

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sujunqin123 opened this issue Mar 6, 2017 · 3 comments
Open

How to use mpu9250? #10

sujunqin123 opened this issue Mar 6, 2017 · 3 comments

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@sujunqin123
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Hi, I want to run mpu9250 in banana pi M3，I try to modify the mpu_9150.launch, as follow:

<node name="i2c_imu_node" pkg="i2c_imu" type="i2c_imu_node" ns="imu" output="screen">
		<param name="imu_frame" value="imu_link" />
		
		<param name="i2c_bus" value="2" />
		
		<param name="i2c_slave_address" value="104" />
		<!--imu_type:
			1 = Null: used when data is provided from a remote IMU
			2 = InvenSense MPU-9150
			3 = STM L3GD20H + LSM303D
			4 = STM L3GD20 + LSM303DLHC
			5 = STM LSM9DS0
			6 = InvenSense MPU-9250
		-->
		<param name="imu_type" value="6" />
		
		<!--fusion_type:
			0 = RTFUSION_TYPE_NULL: just a dummy to keep things happy if not needed
			1 = RTFUSION_TYPE_KALMANSTATE4: kalman state is the quaternion pose
			2 = RTFUSION_TYPE_RTQF: RT quaternion fusion
		-->
		<param name="fusion_type" value="2" />
		
		<!-- mpu9250/gyro_accel_sample_rate: 5 - 1000 Hz -->
		<param name="mpu9250/gyro_accel_sample_rate" value="50" />

		<!-- mpu9250/compass_sample_rate: 1 - 100 Hz -->
		<param name="mpu9250/compass_sample_rate" value="30" />	
		
		<!-- mpu9250/accel_full_scale_range:
			0x00: MPU9150_ACCELFSR_2		+/- 2g
			0x08: MPU9150_ACCELFSR_4		+/- 4g
			0x10: MPU9150_ACCELFSR_8		+/- 8g
			0x18: MPU9150_ACCELFSR_16		+/- 16g
		-->
		<param name="mpu9250/accel_full_scale_range" value="16" />
		
		<!-- mpu9250/gyro_full_scale_range:
			0x00: MPU9150_GYROFSR_250		+/- 250 degrees per second
			0x08: MPU9150_GYROFSR_500		+/- 500 degrees per second
			0x10: MPU9150_GYROFSR_1000		+/- 1000 degrees per second
			0x18: MPU9150_GYROFSR_2000		+/- 2000 degrees per second
		-->
		<param name="mpu9250/gyro_full_scale_range" value="16" />
		
		
		<!-- mpu9250/gyro_accel_low_pass_filter:
			0: MPU9150_LPF_256:  gyro: 256Hz, accel: 260Hz
			1: MPU9150_LPF_188:  gyro: 188Hz, accel: 184Hz
			2: MPU9150_LPF_98:   gyro: 98Hz, accel: 98Hz
			3: MPU9150_LPF_42:   gyro: 42Hz, accel: 44Hz
			4: MPU9150_LPF_20:   gyro: 20Hz, accel: 21Hz
			5: MPU9150_LPF_10:   gyro: 10Hz, accel: 10Hz
			6: MPU9150_LPF_5:    gyro: 5Hz, accel: 5Hz
		-->
		<param name="mpu9250/gyro_accel_low_pass_filter" value="3" />
</node>
------------------------------------------------------------------------------------------------- and I have detect mpu9250 in i2c bus 2 root@bpi-iot-ros-ai:/home/pi/my_ros_ws# i2cdetect -y 2 0 1 2 3 4 5 6 7 8 9 a b c d e f 00: -- -- -- -- -- -- -- -- -- -- -- -- -- 10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 60: -- -- -- -- -- -- -- -- 68 -- -- -- -- -- -- -- 70: -- -- -- -- -- -- -- --

when i run: roslaunch i2c_imu mpu_9250.launch, the result as follow:

PARAMETERS

  • /imu/i2c_imu_node/fusion_type: 2
  • /imu/i2c_imu_node/i2c_bus: 1
  • /imu/i2c_imu_node/i2c_slave_address: 104
  • /imu/i2c_imu_node/imu_frame: imu_link
  • /imu/i2c_imu_node/imu_type: 6
  • /rosdistro: indigo
  • /rosversion: 1.11.20

NODES
/imu/
i2c_imu_node (i2c_imu/i2c_imu_node)
/
imu_to_base (tf/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[imu_to_base-1]: started with pid [10098]
process[imu/i2c_imu_node-2]: started with pid [10099]
[ INFO] [1487039913.152380428]: RTIMU Node for ROS
Settings file RTIMULib.ini loaded
[ INFO] [1487039913.213003026]: loadSettings: reading IMU parameters from param server
[ INFO] [1487039913.381746702]: No Calibration for Compass
[ INFO] [1487039913.385535281]: No Calibration for Accelerometer
Using fusion algorithm RTQF
min/max compass calibration not in use
Ellipsoid compass calibration not in use
Accel calibration not in use
I2C read error from 104, 15 - Failed to read LSM9DS1 accel/gyro id
[FATAL] [1487039913.492664405]: I2cImu - Failed to init the IMU
[FATAL] [1487039913.492860938]: BREAKPOINT HIT
file = /home/pi/my_ros_ws/src/i2c_imu-master/src/i2c_imu_node.cpp
line=137

How can I solve this problem? thanks
@AllanXyl
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AllanXyl commented Nov 3, 2017

I have a similar problem, did you happen to resolve the issue?

@Alabate
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Alabate commented Dec 8, 2017 •
edited
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To use MPU-9250, you have to set imu_type to 7. Here is an example of launchfile:

<?xml version="1.0"?>
<launch>
	<node pkg="tf" type="static_transform_publisher" name="imu_to_base" 
		args="0 0 .1 0 0 0 base_link imu_link 50" />	

	<node name="i2c_imu_node" pkg="i2c_imu" type="i2c_imu_node" ns="imu" output="screen">
		<param name="imu_frame" value="imu_link" />

		<param name="i2c_bus" value="1" />

		<param name="i2c_slave_address" value="104" />
		<!--imu_type:
			0 = Auto discover
			1 = Null (used when data is provided from a remote IMU
			2 = InvenSense MPU-9150
			3 = STM L3GD20H + LSM303D
			4 = STM L3GD20 + LSM303DLHC
			5 = STM LSM9DS0
			6 = STM LSM9DS1
			7 = InvenSense MPU-9250
			8 = STM L3GD20H + LSM303DLHC
			9 = Bosch BMX055
			10 = Bosch BNX055
		-->
		<param name="imu_type" value="7" />

		<!--fusion_type:
			0 = RTFUSION_TYPE_NULL: just a dummy to keep things happy if not needed
			1 = RTFUSION_TYPE_KALMANSTATE4: kalman state is the quaternion pose
			2 = RTFUSION_TYPE_RTQF: RT quaternion fusion
		-->
		<param name="fusion_type" value="2" />

		<!-- mpu9250/gyro_accel_sample_rate: 5 - 1000 Hz -->
		<param name="mpu9250/gyro_accel_sample_rate" value="80" />

		<!-- mpu9250/compass_sample_rate: 1 - 100 Hz -->
		<param name="mpu9250/compass_sample_rate" value="40" />	
			
		<!-- mpu9250/gyro_low_pass_filter:
			0x11 - 8800Hz, 0.64mS delay
			0x10 - 3600Hz, 0.11mS delay
			0x00 - 250Hz, 0.97mS delay
			0x01 - 184Hz, 2.9mS delay
			0x02 - 92Hz, 3.9mS delay
			0x03 - 41Hz, 5.9mS delay
			0x04 - 20Hz, 9.9mS delay
			0x05 - 10Hz, 17.85mS delay
			0x06 - 5Hz, 33.48mS delay
		-->
		<param name="mpu9250/gyro_low_pass_filter" value="3" />
		
		<!-- mpu9250/accel_low_pass_filter:
			0x00 - 460Hz, 1.94mS delay
			0x01 - 184Hz, 5.80mS delay
			0x02 - 92Hz, 7.80mS delay
			0x03 - 41Hz, 11.80mS delay
			0x04 - 20Hz, 19.80mS delay
			0x05 - 10Hz, 35.70mS delay
			0x06 - 5Hz, 66.96mS delay
		-->
		<param name="mpu9250/accel_low_pass_filter" value="3" />

		<!-- mpu9250/gyro_full_scale_range:
			0 +/- 250 degress per second
			8 +/- 500 degress per second
			16 +/- 1000 degress per second
			24 +/- 2000 degress per second
		-->
		<param name="mpu9250/gyro_full_scale_range" value="16" />

		<!-- mpu9250/accel_full_scale_range:
			0 +/- 2g
			8 +/- 4g
			16 +/- 8g
			24 +/- 16g
		-->
		<param name="mpu9250/accel_full_scale_range" value="16" />
	</node>
</launch>

@Sahil-24
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Sahil-24 commented Apr 5, 2018

Has anyone had success with calibrating the compass/accelerometer via either the yaml or launch file?

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4 participants
@Alabate @sujunqin123 @Sahil-24 @AllanXyl