tork-a/adi_driver

ROS package for ADI(Analog Devices Inc.)'s IMU sensors

adi_driver's Issues

User register memory map

adi_driver/src/adis16470.cpp

Lines 340 to 341 in d420899

	read_register(0x04, gyro_low[0]);
	read_register(0x06, gyro_low[0]);

Why is gyro_low referenced twice?

Looking in the User register memory map in 16470 datasheet
It looks like this:

X_GYRO_LOW 0x04
X_GYRO_OUT 0x06
Y_GYRO_LOW 0x08
Y_GYRO_OUT 0x0A
Z_GYRO_LOW 0x0C
Z_GYRO_OUT 0x0E
X_ACCL_LOW 0x10
X_ACCL_OUT 0x12
Y_ACCL_LOW 0x14       
Y_ACCL_OUT 0x16
Z_ACCL_LOW 0x18
Z_ACCL_OUT 0x1A

TEMP_OUT  0x1C               

Problems about adi_driver

Hi:
Thank you for sharing, very useful!
I have a ADIS16405 now.I would like to ask you if ADIS16405 can use this driver.
Thank you! Looking forward to your reply.

I will add support for Adis16490

Hi I think that a few changes in maping register is possible. Do you have some recomendations?

CircleCI fails

#13

Do you have any idea? @534o

Aside it, we need to migrate to CircleCI 2.0 from 1.0 soon.

Follow the REP-145

I didn't know the REP on IMU.

• http://www.ros.org/reps/rep-0145.html

adi_driver doesn't follow the REP on some points.

• default frame_id should be imu_link
• common parameters
• covariance value

All should be fixed.

Stack Smashing Detected when running/launching the ADIS16470 node

Hello everyone

I am encountering the following problem:

I am trying to run the adi_driver with ADIS16470. I am using the exact same components advised on the GitHub page.
I did all the steps that work with all other drivers I installed.
I installed ROS Noetic 1.15.11 on a Raspberry Pi 4 8GB running Ubuntu Mate 20.04 LTS.
Cloned the driver into my catkin workspace using "git clone ".
I also installed the IMU_TOOLS Madgwick filter as suggested on the GitHub page, as another package in my catkin workspace.
Compiled everything with catkin_make.
Compilation and building is successful.

I try to launch the launch file and I incur into a Stack Smashing Detected ONLY for the IMU node. The filter works, but the ADIS16470 node exits with exit code -6. I could find no explanation of what this code means, and when I try to access the log file in the error description, it is completely empty.

Same happens if I try to run the node with rosrun.

Since nothing happens to work, not even deleting and reinstalling the package, I switch to another machine.

I tried with a virgin installation of ROS on another RPi 4 4GB running Ubuntu Mate 20.04 LTS and ROS Noetic 1.15.11.
I install the adi_driver as my first package and download the filter in the ROS package directory, not in my catkin workspace.
Finally it works and I can read the IMU data.

The problem shows itself again when on this new RPi I install another IMU driver package to run a comparison.
The moment I try to run the ADIS16470, the same exact Stack Smashing Detected error happens.

I do not understand why the driver would work 5 minutes earlier, and the moment I install another package to run multiple sensors at the same time it suddenly stops working.

If anyone has an insight on how to solve this problem, please reply.

Also, as a disclaimer, I am in no way an expert in programming or computer science.
I do understand what the C++ code is doing regarding the sensor, but I don't understand why it is giving me such an error if it is compiling correctly and if it was working fine literally 5 minutes ago.
As such, please assume I am at a beginner level in your answers.

ERROR: cannot launch node of type [imu_filter_madgwick/imu_filter_node]: imu_filter_madgwick

Hi,
I have tested this pakage on ADIS16460 connected to USB-ISS and got the belowing errors:
ERROR: cannot launch node of type [imu_filter_madgwick/imu_filter_node]: imu_filter_madgwick
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/ivan/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share

Do you have and idea about that?
Thanks in advance.

Problem about the two numbers

Thanks for your excellent work. I want to use this driver on ADIS16465, I compared the Data Sheets of ADIS16465 and ADIS16470, I think I only need a little modification to use it on ADIS16465.

When I was reading the code, I got confused about the following lines:

adi_driver/src/adis16470.cpp

Line 361 in 26f339a

gyro[i] = ((int32_t(gyro_out[i]) << 16) + int32_t(gyro_low[i])) * M_PI / 180.0 / 655360.0;

adi_driver/src/adis16470.cpp

Line 362 in 26f339a

accl[i] = ((int32_t(accl_out[i]) << 16) + int32_t(accl_low[i])) * 9.8 / 52428800.0;

I don't know why the numbers 655360 and 52428800 need to be used here, what do they mean?

Cloud you please tell me why they used here？Thanks!!!!

Can I use adi_driver in Ubuntu20.04 ROS noetic

16470 ros package

Hi, in my purpose of using ADIS16470 I need ROS Melodic package of it. My onboard computer is Jetson AGX Xavier with Auvidea's carrier board X221, In the adi_driver of ROS package, I did what github steps said. In the terminal when I run commands , I got the IMU datas are noisy, and in RVIZ ADS16470 is flickering, that means it has noisy data I guess. Here is my pics below:



To see the difference , I made change param burst_read in launch file to true. Bu I got error and IMU didn't start to run:

ADIS16470/PCB Calibration

Is there a way to edit the biases for both the gyroscope and accelerometer from the ROS package. I am trying to edit the calibrate my ADIS16470 on ROS. I know there is a pull request for bias estimation. I want to know if that lets you edit the actual bias. Does it store the change on the program or does it save to the sensor's flash memory? How long does the change stay effective? Can I edit the bias for the accelerometer?

Release to ROS melodic

I want to use this package with ROS Melodic and Ubuntu 18.04 on Jetson AGX Xavier .
Are there any plans to release it for ROS Melodic ?

Add topic to publish temperature

This is so useful ros package.

I tried, but there was no topic to publish temperature.
Looking at the specification of ADIS 16470, the register also includes temperature.
I think that it is more convenient as well as only use imu calibration.
Why don't you to add a topic to publish temperature?

Can ADIS16448 use this driver？

Can ADIS16448 use this driver？

ADIS 16470 for Linux using real-time kernel

Hi guys,

I am having some troubles when using your ROS package in Linux 4.14.12-rt10 (Real-time patched). I achieve to correctly launch the adis16470.launch program but few minutes after the IMU stop sending datas. I tested it in the same linux distribution but without Real-time patch and it works well... Any ideas? Thanks in advance for your help!

ADIS

Hi，Thanks for sharing, me I want to make some changes to fit ADIS16405, and I have a question about why this is 30,24 in your codes.
int size = write(fd_, buff, 24);
size = read(fd_, buff, 30);

No such file or directory: /opt/ros/kinetic/share/adi_driver/urdf/adis16470_breakout.urdf

Released package doesn't have urdf file. #5 will fix it.

tajima@carbon:~$ roslaunch adi_driver adis16470.launch with_rviz:=true
... logging to /home/tajima/.ros/log/153c3c08-062f-11e8-9b52-0028f8c8dc14/roslaunch-carbon-11577.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

No such file or directory: /opt/ros/kinetic/share/adi_driver/urdf/adis16470_breakout.urdf
XacroException('No such file or directory: /opt/ros/kinetic/share/adi_driver/urdf/adis16470_breakout.urdf',)
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro --inorder '/opt/ros/kinetic/share/adi_driver/urdf/adis16470_breakout.urdf'] returned with code [2]. 

Param xml is <param command="$(find xacro)/xacro --inorder '$(find adi_driver)/urdf/adis16470_breakout.urdf'" if="$(arg with_rviz)" name="robot_description"/>
The traceback for the exception was written to the log file

How to add support to ADSI16460?

I am considering to expend this great job to support adsi16460 imu sensor, but I am not sure what I should modify apart from include/adsi16460 ? Can anyone give me some advice? Thanks~

ADIS16495 driver error

Hello,

I'm trying to add ADIS16495-2 source code for using ADIS16495-2.
ADIS16495-2.cpp source code could work on the driver.
I add the new source code for ADI16495 and change name of header file, node file, CMakeLists and launch file.

I have error issue on catkin_make process.

Here is my branch repository.
https://github.com/jonny214/adi_driver/tree/adis16495

When I catkin_make it has some errors. The error message are here.

---

/xx/xx/catkin_ws/src/adi_driver/src/adis16495-2.cpp:253:57: error: no ‘int Adis16495::write_register(char, int16_t)’ member function declared in class ‘Adis16495’
/xx/xx/catkin_ws/src/adi_driver/src/adis16495-2.cpp:349:3: error: ‘temp’ was not declared in this scope

---

I have total 5 similar errors.
It looks name problem between ADIS16470 driver and ADIS16495 driver.

Please give me your advice?

Best regards,
Jun

update_burst

In update_burst function,

// X_GYRO_OUT
gyro[0] = big_endian_to_short(&buff[5]) * M_PI / 180 / 10.0;
// Y_GYRO_OUT
gyro[1] = big_endian_to_short(&buff[7]) * M_PI / 180 / 10.0;
// Z_GYRO_OUT
gyro[2] = big_endian_to_short(&buff[9]) * M_PI / 180 / 10.0;
// X_ACCL_OUT
accl[0] = big_endian_to_short(&buff[11]) * M_PI / 180 / 10.0;
// Y_ACCL_OUT
accl[1] = big_endian_to_short(&buff[13]) * M_PI / 180 / 10.0;
// Z_ACCL_OUT
accl[2] = big_endian_to_short(&buff[15]) * M_PI / 180 / 10.0;
// TEMP_OUT
temp = big_endian_to_short(&buff[16]) * 0.1;
return 0;

shouldn't the factor for *_ACCL_OUT be: ( 9.8 / 800 ) since data is in 16-bit format?