Board hangs on first write

[danmartinez78]

I've tested with two linux systems. There seems to be a problem writing the initial values to the board. The ROS node opens the serial port successfully but the application stalls on writing the first command to the board.

[Murphy3220]

I have actually had the same problem when using Linux and I have yet to find the cause of the issue. Everything works fine in Windows but, like you mentioned, it hangs on Linux. I'm not sure if it is this code or something with the serial port in Linux because I have the same thing happen to another serial device. Perhaps its a permission issue.

[Murphy3220]

Make sure you have read/write privileges on the serial port in Linux. I did read that there is an issue with Arduino boards and the auto-reset...so maybe that has something to do with it.

[WenchaoLiu93]

Hey! Can you clarify what issue it is? Since ROS doesn't work on Windows, does it mean that the IMU can't be used with ROS?

[Murphy3220]

I'm not sure if it can be used with ROS. Ive only tested and used this AHRS system on windows and it works great. As far as the issue danmartinez78 is having, I believe it has to do with the read/write privileges in Linux or the arduino auto-reset...but I'm not sure which. Basically if you were to run this AHRS in Ubuntu, it connects to the IMU just fine but when it tries to write, say send the #o1 command, it freezes on the write. I'm not sure how to fix it and havnt been able to spend time trying to debug the issue but I'm sure some Linux guru could solve the issue pretty easily.

[WenchaoLiu93]

Thanks for your quick reply. I guess I will have to wait for someone to fix it then. Thanks for your contribution as well!

[Murphy3220]

No problem at all. There is definitely room for improvement. I'm an RF engineer by trade so coding isn't first on my skill set, so I'm sure my code could be cleaned up and improved.