[ros-users] Microstrain GX2 on arm

[Daniel Stonier]

On 23 November 2010 04:48, Josh Faust <jfaust at willowgarage.com> wrote:
> Try the patch from: https://code.ros.org/trac/ros/ticket/2883
> Josh

Oh, thanks Josh - I forgot to link to the wiki page I mentioned above
where I also have details about that ticket.

http://www.ros.org/wiki/eros/alignment

Cheers,
Daniel.

> On Sun, Nov 21, 2010 at 8:32 PM, Steven Martin
> <s34.martin at connect.qut.edu.au> wrote:
>>
>>  I have been trying to get the Microstrain Imu driver working on the
>> Gumstix. The driver compiles and appears to connect to the imu successfully
>> however as soon as I try to subscribe or echo the data from the /imu/data
>> topic the driver crashes.
>>
>> I have attached the backtrace from gdb. Any ideas?
>>
>> [ INFO] [1290400017.209869037]: Connected to IMU [         3DM-GX2] model
>> [            4200] s/n [            4040] options [       5g 300d/s]
>> [ INFO] [1290400017.214690983]: Calibrating IMU gyros.
>> [ INFO] [1290400029.371214575]: Imu: calibration check succeeded: angular
>> drift 0.285323 deg/msec < 5.729578 deg/msec
>> [ INFO] [1290400029.376402745]: IMU gyro calibration completed.
>> [ INFO] [1290400030.381717452]: Initializing IMU time with offset
>> 0.000000.
>> [ INFO] [1290400030.398319596]: IMU sensor initialized.
>>
>> Program received signal SIGILL, Illegal instruction.
>> allInOne<ros::serialization::OStream,
>> geometry_msgs::Quaternion_<std::allocator<void> > const&> (message=...)
>>     at
>> /stacks/common_msgs/geometry_msgs/msg_gen/cpp/include/geometry_msgs/Quaternion.h:182
>> 182         stream.next(m.y);
>> (gdb) bt
>> #0  allInOne<ros::serialization::OStream,
>> geometry_msgs::Quaternion_<std::allocator<void> > const&> (message=...)
>>     at
>> /stacks/common_msgs/geometry_msgs/msg_gen/cpp/include/geometry_msgs/Quaternion.h:182
>> #1  write<ros::serialization::OStream,
>> geometry_msgs::Quaternion_<std::allocator<void> > > (message=...)
>>     at
>> /stacks/common_msgs/geometry_msgs/msg_gen/cpp/include/geometry_msgs/Quaternion.h:187
>> #2  serialize<geometry_msgs::Quaternion_<std::allocator<void> >,
>> ros::serialization::OStream> (message=...)
>>     at /opt/ros/cturtle/ros/core/roslib/include/ros/serialization.h:149
>> #3  next<geometry_msgs::Quaternion_<std::allocator<void> > > (message=...)
>>     at /opt/ros/cturtle/ros/core/roslib/include/ros/serialization.h:741
>> #4  allInOne<ros::serialization::OStream,
>> sensor_msgs::Imu_<std::allocator<void> > const&> (message=...)
>>     at
>> /stacks/common_msgs/sensor_msgs/msg_gen/cpp/include/sensor_msgs/Imu.h:315
>> #5  write<ros::serialization::OStream,
>> sensor_msgs::Imu_<std::allocator<void> > > (message=...)
>>     at
>> /stacks/common_msgs/sensor_msgs/msg_gen/cpp/include/sensor_msgs/Imu.h:323
>> #6  serialize<sensor_msgs::Imu_<std::allocator<void> >,
>> ros::serialization::OStream> (message=...)
>>     at /opt/ros/cturtle/ros/core/roslib/include/ros/serialization.h:149
>> #7
>> ros::serialization::serializeMessage<sensor_msgs::Imu_<std::allocator<void>
>> > > (message=...)
>>     at /opt/ros/cturtle/ros/core/roslib/include/ros/serialization.h:809
>> #8  0x0002157c in operator()<ros::SerializedMessage,
>> ros::SerializedMessage (*)(const sensor_msgs::Imu_<std::allocator<void> >&),
>> boost::_bi::list0> (
>>     function_obj_ptr=<value optimized out>)
>>     at /usr/include/boost/bind/bind.hpp:236
>> #9  boost::_bi::bind_t<ros::SerializedMessage, ros::SerializedMessage
>> (*)(sensor_msgs::Imu_<std::allocator<void> > const&),
>> boost::_bi::list1<boost::reference_wrapper<sensor_msgs::Imu_<std::allocator<void>
>> > const> > >::operator() (
>>     function_obj_ptr=<value optimized out>)
>>     at /usr/include/boost/bind/bind_template.hpp:20
>> #10
>> boost::detail::function::function_obj_invoker0<boost::_bi::bind_t<ros::SerializedMessage,
>> ros::SerializedMessage (*)(sensor_msgs::Imu_<std::allocator<void> > const&),
>> boost::_bi::list1<boost::reference_wrapper<sensor_msgs::Imu_<std::allocator<void>
>> > const> > >, ros::SerializedMessage>::invoke (
>>     function_obj_ptr=<value optimized out>)
>>     at /usr/include/boost/function/function_template.hpp:132
>> #11 0x40366998 in boost::function0<ros::SerializedMessage>::operator() (
>>     this=0x65930, topic=<value optimized out>, serfunc=..., m=...)
>>     at /usr/include/boost/function/function_template.hpp:1013
>> #12 ros::TopicManager::publish(std::string const&,
>> boost::function<ros::SerializedMessage ()()> const&,
>> ros::SerializedMessage&) (this=0x65930,
>>     topic=<value optimized out>, serfunc=..., m=...)
>>     at /opt/ros/cturtle/ros/core/roscpp/src/libros/topic_manager.cpp:726
>> #13 0x403a7690 in
>> ros::Publisher::publish(boost::function<ros::SerializedMessage ()()> const&,
>> ros::SerializedMessage&) const (this=0xbed52fc8, serfunc=...,
>>     m=...) at /opt/ros/cturtle/ros/core/roscpp/src/libros/publisher.cpp:93
>> #14 0x00028828 in
>> ros::Publisher::publish<sensor_msgs::Imu_<std::allocator<void> > >
>> (this=0xbed52fc8, message=<value optimized out>)
>>     at /opt/ros/cturtle/ros/core/roscpp/include/ros/publisher.h:108
>> #15 0x0002aa14 in ImuNode::publish_datum (this=0xbed52b28)
>>     at /stacks/imu_drivers/microstrain_3dmgx2_imu/imu_node.cc:331
>> #16 0x00020edc in ImuNode::spin (argc=Cannot access memory at address
>> 0xdddd5
>> )
>>     at /stacks/imu_drivers/microstrain_3dmgx2_imu/imu_node.cc:360
>> #17 main (argc=Cannot access memory at address 0xdddd5
>> ) at /stacks/imu_drivers/microstrain_3dmgx2_imu/imu_node.cc:685
>>
>>
>> Steve
>>
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