ROS2 Application

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System configuration: Ubuntu 22.04

ROS2 version: humble

ROS2 environment setup

1. Update the download sources

sudo apt update

2. Enter the ros2 installation command

wget http://fishros.com/install -O fishros && . fishros

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

Import the prepared archive

1. Available in the same Feishu directory: IMU_ROS2.zip

2. Transfer it to the VM with a file transfer tool

3. Install the IMU_Library library

# 下载解压IMU_ROS2压缩文件后，进入到IMU_Library目录下，运行setup.py
cd IMU_ROS2/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

Build the ROS2 project

1. Return to the ~/IMU_ROS2 directory

cd IMU_ROS2
colcon build --symlink-install

1. Add the workspace ~/IMU_ROS2 to the environment variables

# 编辑 ~/.bashrc
sudo gedit ~/.bashrc

# 把下面命令写到末尾
source ~/IMU_ROS2/install/setup.bash

After a successful build, run the following command to check whether the imu_ros2 package contains executables

ros2 pkg executables imu_ros2

Start the ROS2 nodes

source install/setup.bash
ros2 run imu_ros2 imu_publisher

IMU data output

1. Open a new terminal and list the imu topics

ros2 topic list

2. Print the /imu/data topic data

ros2 topic echo /imu/data

3. Open a new terminal and check the msg topic

ros2 topic echo /imu/mag

RViz2 visualization

1. Run the command to open the rviz interface

ros2 launch imu_ros2 imu_visualization.launch.py

FAQ

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

# 在~/IMU_ROS2目录下运行
source install/setup.bash

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