IMU connection problem

[Jovin Johns]

Hi,

First of all let me extend my sincere thanks for such a beautiful tutorial.

I'm relatively new to ROS,pardon me for the mistakes .

I have been building a bot based upon LINOROBOT

Im using an ARDUINO UNO as the microcontroller.I'm facing difficulties launching "roslaunch linorobot minimal.launch"

I'm thinking its related to IMU- im using MPU9250

... logging to /home/ubuntu/.ros/log/7cddd39c-d0dc-11e5-8021-13c8019d5e93/roslaunch-theseus-1910.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.

started roslaunch server http://theseus.local:46753/

SUMMARY
========

PARAMETERS
 * /apply_calib/calib_file: /home/ubuntu/lino...
 * /apply_calib/calibrate_gyros: True
 * /ekf_localization/base_link_frame: base_footprint
 * /ekf_localization/diagnostics_agg: True
 * /ekf_localization/frequency: 50
 * /ekf_localization/imu0: /imu/data
 * /ekf_localization/imu0_config: [False, False, Fa...
 * /ekf_localization/imu0_differential: True
 * /ekf_localization/imu0_relative: True
 * /ekf_localization/odom0: /raw_odom
 * /ekf_localization/odom0_config: [False, False, Fa...
 * /ekf_localization/odom0_differential: True
 * /ekf_localization/odom0_relative: False
 * /ekf_localization/odom_frame: odom
 * /ekf_localization/two_d_mode: True
 * /ekf_localization/world_frame: odom
 * /imu_filter_madgwick/fixed_frame: base_footprint
 * /imu_filter_madgwick/orientation_stddev: 0.05
 * /imu_filter_madgwick/publish_tf: False
 * /imu_filter_madgwick/use_mag: True
 * /imu_filter_madgwick/use_magnetic_field_msg: True
 * /imu_filter_madgwick/world_frame: enu
 * /rosdistro: kinetic
 * /rosserial_lino/baud: 57600
 * /rosserial_lino/port: /dev/linobase
 * /rosversion: 1.12.14

NODES
  /
    apply_calib (imu_calib/apply_calib)
    base_footprint_to_base_link (tf2_ros/static_transform_publisher)
    base_footprint_to_imu_link (tf2_ros/static_transform_publisher)
    ekf_localization (robot_localization/ekf_localization_node)
    imu_filter_madgwick (imu_filter_madgwick/imu_filter_node)
    lino_base_node (linorobot/lino_base_node)
    rosserial_lino (rosserial_python/serial_node.py)

ROS_MASTER_URI=http://theseus.local:11311

process[rosserial_lino-1]: started with pid [1927]
process[apply_calib-2]: started with pid [1928]
process[imu_filter_madgwick-3]: started with pid [1929]
process[base_footprint_to_imu_link-4]: started with pid [1930]
process[lino_base_node-5]: started with pid [1931]
process[base_footprint_to_base_link-6]: started with pid [1942]
process[ekf_localization-7]: started with pid [1951]
[ INFO] [1584804346.280707629]: Starting ImuFilter
[ INFO] [1584804346.415717873]: Using dt computed from message headers
[ INFO] [1584804346.556587649]: Imu filter gain set to 0.100000
[ INFO] [1584804346.557105249]: Gyro drift bias set to 0.000000
[ INFO] [1584804346.557574345]: Magnetometer bias values: 0.000000 0.000000 0.000000
[INFO] [1584804347.055978]: ROS Serial Python Node
[INFO] [1584804347.085564]: Connecting to /dev/linobase at 57600 baud
[ WARN] [1584804356.726623867]: Still waiting for data on topics /imu/data_raw and /imu/mag...
[ERROR] [1584804364.196022]: Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino

I have connected SCL SDA to A5 & A4 respectively.

other pins are mapped as in picture.

I have gone through other queries and tried to get the device id of IMU,its the same.I feel connections are intact.

Kindly help me out.

[parzival]

Hey, Linorobot firmware has problems running on Arduino Uno. Can you access a Mega?
Also, I see your encoder pins are not connected to the interrupt pins of Uno. Consider connecting channel A of each motor to digital pin 2 and 3

[Jovin Johns]

Thank you,

i dont have a mega currently,I will try to get one,in the mean time i do have tiva c launchpad TM4C123GXL.Will that suffice?