某宝入手的imu陀螺仪加速度计 六十多块钱，连同typec底板。
这个usb转串口是家里原来就有的，正好拿来试机。
不知道好坏，先没有焊接，焊上就不能退换了，正好家里有usb转串口模块，先试试机在说。
imu带的资料里面有windows版的上位机，插在电脑上输入串口号连接串口，工作正常。
linux捣鼓装机正式开始
系统环境：
ubuntu20.04 ros2 foxy
1 连接imu串口
找串口名
插入imu前
m@ubun:~$ lsusb
Bus 002 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 001 Device 006: ID 04f2:b2ea Chicony Electronics Co., Ltd Integrated Camera [ThinkPad]
Bus 001 Device 005: ID 8086:0187 Intel Corp.
Bus 001 Device 004: ID 0a5c:2110 Broadcom Corp. BCM2045B (BDC-2) [Bluetooth Controller]
Bus 001 Device 007: ID 0e8f:0021 GreenAsia Inc. Multimedia Keyboard Controller
Bus 001 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 002: ID 093a:2510 Pixart Imaging, Inc. Optical Mouse
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
插入imu后
m@ubun:~$ lsusb
Bus 002 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 001 Device 006: ID 04f2:b2ea Chicony Electronics Co., Ltd Integrated Camera [ThinkPad]
Bus 001 Device 005: ID 8086:0187 Intel Corp.
Bus 001 Device 004: ID 0a5c:2110 Broadcom Corp. BCM2045B (BDC-2) [Bluetooth Controller]
Bus 001 Device 007: ID 0e8f:0021 GreenAsia Inc. Multimedia Keyboard Controller
Bus 001 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 005: ID 1a86:7523 QinHeng Electronics HL-340 USB-Serial adapter
Bus 003 Device 002: ID 093a:2510 Pixart Imaging, Inc. Optical Mouse
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
倒数第三行是插入imu后增加的设备：
Bus 003 Device 005: ID 1a86:7523 QinHeng Electronics HL-340 USB-Serial adapter
ls查看imu映射到了什么端口
m@ubun:~$ ls /dev/ttyUSB*
/dev/ttyUSB0
imu被映射到了/dev/ttyUSB0
修改端口权限：
sudo chmod 777 /dev/ttyUSB0
2 imu python代码
import rclpy # 导入ROS2 Python库文件
from rclpy.node import Node # 导入ROS2 Node
from sensor_msgs.msg import Imu # 导入imu消息
import serial # 导入串口库
import struct
import binascii
#JY_95T 九轴imu传感器模块，利用串口读取数据的ros2 python底层代码。
# imu类
class IMU(Node):
send_data = []
def __init__(self):
super().__init__('imu_publisher')
self.publisher_ = self.create_publisher(Imu, 'imu_data', 1)
# 串口初始化
self.IMU_Usart = serial.Serial(
port = '/dev/ttyUSB0', # 根据自己的串口修改串口名
baudrate=115200, # 波特率
timeout = 0.001 # read_all按照一个timeout周期时间读取数据
)
# 接收数据初始化
self.ACC_X:float = 0.0 # X轴加速度
self.ACC_Y:float = 0.0 # Y轴加速度
self.ACC_Z:float = 0.0 # Z轴加速度
self.GYRO_X :float = 0.0 # X轴陀螺仪
self.GYRO_Y :float = 0.0 # Y轴陀螺仪
self.GYRO_Z :float = 0.0 # Z轴陀螺仪
self.roll :float = 0.0 # 横滚角
self.pitch :float = 0.0 # 俯仰角
self.yaw :float = 0.0 # 航向角
self.leve :float = 0.0 # 磁场校准精度
self.temp :float = 0.0 # 器件温度
self.MAG_X :float = 0.0 # 磁场X轴
self.MAG_Y :float = 0.0 # 磁场Y轴
self.MAG_Z :float = 0.0 # 磁场Z轴
self.Q0 :float = 0.0 # 四元数Q0.0
self.Q1 :float = 0.0 # 四元数Q1
self.Q2 :float = 0.0 # 四元数Q2
self.Q3 :float = 0.0 # 四元数Q3
# 判断串口是否打开成功
if self.IMU_Usart.isOpen():
print("串口打开成功！")
else:
print("串口打开失败！")
# 发送读取指令
self.Send_ReadCommand()
# 回调函数返回周期
time_period = 0.001
self.timer = self.create_timer(time_period, self.timer_callback)
def Send_ReadCommand(self):
#发送读取IMU内部数据指令
#读寄存器例子,读取模块内部温度,主站发送帧为:A4 03 1B 02 C4
# | A4 | 03 | 1B | 02 | C4
# | 帧头ID | 读功能码 |起始寄存器| 寄存器数量 |校验和低 8 位
#0xA4：帧头 0x03：读取 0x08：第一个数据寄存器08 0x23：共35个数据寄存器 0xD2：前面数据的和取低八位
send_data = [0xA4,0x03,0x08,0x23,0xD2] #读35个寄存器需要发送的串口包
#send_data = [0xA4,0x03,0x08,0x1B,0xCA] #读27个寄存器需要发送的串口包，不发送串口包默认的接收状态
send_data=struct.pack("%dB"%(len(send_data)),*send_data) #解析成16进制
print("向imu发送命令：",send_data) #显示发送给imu的数据
self.IMU_Usart.write(send_data) #发送
def Read_data(self):
#读取数据
# 初始化数据
counter = 0
Recv_flag = 0
Read_buffer = []
# 接收数据至缓存区
Read_buffer=self.IMU_Usart.read(40) # 我们需要读取的是40个寄存器数据，即40个字节
# 状态机判断收包数据是否准确
while(1):
# 第1帧是否是帧头ID 0xA4
if (counter == 0):
if(Read_buffer[0] != 0xA4):
break
# 第2帧是否是读功能码 0x03
elif (counter == 1):
if(Read_buffer[1] != 0x03):
counter=0
break
# 第3帧判断起始帧
elif (counter == 2):
if(Read_buffer[2] < 0x2c):
start_reg=Read_buffer[2]
else:
counter=0
# 第4帧判断帧有多少数量
elif (counter == 3):
if((start_reg+Read_buffer[3]) < 0x2C): # 最大寄存器为2C 大于0x2C说明数据肯定错了
len=Read_buffer[3]
else:
counter=0
break
else:
if(len+5==counter):
#print('Recv done!')
Recv_flag=1
# 收包完毕
if(Recv_flag):
Recv_flag = 0
sum = 0
#print(Read_buffer) # Read_buffer中的是byte数据字节流，用struct包解包
data_inspect = str(binascii.b2a_hex(Read_buffer)) # data是将数据转化为原本的按照16进制的数据
#print(data_inspect)
try: # 如果接收数据无误，则执行数据解算操作
for i in range(2,80,2): # 根据手册，检验所有帧之和低八位是否等于末尾帧
sum += int(data_inspect[i:i+2],16)
if (str(hex(sum))[-2:] == data_inspect[80:82]): # 如果数据检验没有问题，则进入解包过程
#print('the Rev data is right')
# 数据低八位在前，高八位在后
#print(Read_buffer[4:-1])
unpack_data = struct.unpack('<hhhhhhhhhBhhhhhhhh',Read_buffer[4:-1])
# 切片并将其解析为我们所需要的数据，切出我们所需要的数据部分
g = 9.8
self.ACC_X = unpack_data[0]/2048 * g # unit m/s^2
self.ACC_Y = unpack_data[1]/2048 * g
self.ACC_Z = unpack_data[2]/2048 * g
self.GYRO_X = unpack_data[3]/16.4 # unit 度/s
self.GYRO_Y = unpack_data[4]/16.4
self.GYRO_Z = unpack_data[5]/16.4
self.roll = unpack_data[6]/100
self.pitch = unpack_data[7]/100
self.yaw = unpack_data[8]/100
self.level = unpack_data[9]
self.temp = unpack_data[10]/100
self.MAG_X = unpack_data[11]/1000 # unit Gaos
self.MAG_Y = unpack_data[12]/1000
self.MAG_Z = unpack_data[13]/1000
self.Q0 = unpack_data[14]/10000
self.Q1 = unpack_data[15]/10000
self.Q2 = unpack_data[16]/10000
self.Q3 = unpack_data[17]/10000
#print(self.__dict__)
except:
print("接收的数据有错误!!")
counter=0
break
else:
counter += 1 # 遍历整个接收数据的buffer
def timer_callback(self):
# ----读取IMU的内部数据-----------------------------------
try:
count = self.IMU_Usart.inWaiting()
if count > 0:
self.Read_data()
# 发布sensor_msgs/Imu 数据类型
imu_data = Imu()
imu_data.header.frame_id = "map"
imu_data.header.stamp = self.get_clock().now().to_msg()
imu_data.linear_acceleration.x = self.ACC_X
imu_data.linear_acceleration.y = self.ACC_Y
imu_data.linear_acceleration.z = self.ACC_Z
imu_data.angular_velocity.x = self.GYRO_X * 3.1415926 / 180.0 # unit transfer to rad/s
imu_data.angular_velocity.y = self.GYRO_Y * 3.1415926 / 180.0
imu_data.angular_velocity.z = self.GYRO_Z * 3.1415926 / 180.0
imu_data.orientation.x = self.Q0
imu_data.orientation.y = self.Q1
imu_data.orientation.z = self.Q2
imu_data.orientation.w = self.Q3
self.publisher_.publish(imu_data) # 发布imu的数据
# --------------------------------------------------------
#print('imu数据发布中')
except KeyboardInterrupt:
if serial != None:
print("关闭串口端口")
self.IMU_Usart.close()
#--------------------------------------------------------
def main(args=None):
# 变量初始化---------------------------------------------
rclpy.init(args=args)
IMU_node = IMU()
rclpy.spin(IMU_node)
rclpy.shutdown()
if __name__ == '__main__':
main()
代码取自：ROS2手写接收IMU数据(Imu)代码并发布_暮尘依旧的博客-CSDN博客
进入ros2工作空间 source install/setup.bash
运行代码：/bin/python3 /home/m/test/python/imu/imu.py #根据自己的文件位置修改目录结构
启动rviz2 add By topic按话题添加imu 移动imu 图像跟随移动 安装完成。