ROS1 Application

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System configuration: Ubuntu 20.04

ROS1 version: noetic

ROS1 environment setup

1. Set up the ROS1 installation source

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

2. Set up the Key

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

sudo apt update

3. Install ROS1 (official download)

sudo apt install ros-noetic-desktop-full

Install ROS1 with proxy acceleration wget http://fishros.com/install -O fishros && . fishros

4. Configure environment variables

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

source ~/.bashrc

Connect the device to the VM

1. Check the device

ll /dev/ttyUSB*

2. Create the port mapping

sudo gedit /etc/udev/rules.d/99-serial-imu.rules

3. Fill in the mapping file contents

KERNEL=="ttyUSB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", MODE:="0777", SYMLINK+="imu-serial"

4. Save and exit, then run the commands to apply the rules

sudo udevadm trigger

sudo service udev reload

sudo service udev restart

5. Verify

ll /dev/imu-serial

sudo usermod -aG dialout ash

Import the prepared archive

1. Available in the same Feishu directory: IMU_ROS1.zip

2. After extraction, transfer it to the VM with a file transfer tool

3. Install the IMU_Library library

cd IMU_ROS1
# 下载解压IMU_ROS1压缩文件后，进入到IMU_Library目录下，运行以下指令
cd IMU_Library
# 安装库及其依赖
pip install -e .
# 或使用setup.py安装
python setup.py install

Install Python libraries

sudo pip3 install pyserial
sudo pip3 install smbus2

If rendering issues occur, run the following commands

sudo apt-get install ros-noetic-imu-filter-madgwick
sudo apt-get install ros-noetic-rviz-imu-plugin

Build the ROS1 project

1. Open a new terminal in /home and create a ros1 workspace

mkdir imu_ros1
cd imu_ros1
mkdir src
cd src/
catkin_init_workspace

2. Copy the transferred IMU_ROS1 folder into ~/imu_ros1/src/

# 复制 IMU_ROS1 文件夹到新建的 src 目录下
cp -r ~/IMU_ROS1 ~/imu_ros1/src
cd ~/imu_ros1
catkin_make

3. Add the workspace ~/imu_ros1 to the environment variables

# 编辑 ~/.bashrc
sudo gedit ~/.bashrc

# 把下面命令写到末尾
source ~/imu_ros1/devel/setup.bash

source ~/.bashrc

Start the ROS1 nodes

1. Open a terminal and enter roscore to start the node

# 启动roscore
roscore

# 新开终端，设置环境，启动节点
source ~/imu_ros1/devel/setup.bash

2. Grant executable permission to the Python scripts (important)

Enter the scripts directory where the scripts reside, and run chmod +x to grant executable permission (+x = add execute):

# 进入imu_driver.py所在目录（按你的实际路径）
cd ~/imu_ros1/src/IMU_ROS1/scripts/

# 赋予可执行权限（仅需执行1次，永久生效）
chmod +x imu_driver.py
chmod +x mag_visualizer.py

Return to the imu_ros1 folder and run imu_driver.py

cd ~/imu_ros1

rosrun IMU_ROS1 imu_driver.py

IMU data output

1. Open a new terminal and list the imu topics

# 查看当前发布的所有话题
rostopic list

2. Print topic data

# 打印IMU原始数据
rostopic echo /imu/data_raw

# 打印磁力计数据
rostopic echo /imu/mag

RViz visualization

1. Run the command to start rviz

roslaunch IMU_ROS1 imu_display.launch

FAQ

1. If the node fails to start, try the following commands

# 在~/imu_ros1目录下运行
source devel/setup.bash

# 端口号问题
sudo chmod 666 /dev/imu-serial

2. If the three axes appear too small in RViz, re-check Enable axes