I will use IMU model HWT901B or HWt901C for robot project. Can anyone know they have ROS2 support for driver like WitMotion in ROS1? Thank u
2 Answers
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Both of them are supported in ROS2. I am using HWT101C and it works fine. There is a ros2 branch: https://github.com/ElettraSciComp/witmotion_IMU_ros/tree/ros2
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Yes, there is existing ROS2 support for the HWT901B and WT901C IMUs, though it may require some adaptation depending on your specific hardware and interface.
The ros_wit_imu_node https://github.com/Ericsii/ros_wit_imu_node
by Ericsii is a ROS2 driver that supports the WT901C model. It publishes topics like /data_raw and /temperature, allowing you to access IMU data in a ROS-native way. Users have reported success with both HWT901B and WT901C models using this driver. However, some users have encountered issues with data not being published on the /imu topic when using multiple sensors, such as JY901, WT901C, and WT901BLE versions. In such cases, troubleshooting steps may include verifying serial connections, checking baud rates, and ensuring proper topic subscriptions. GitHub
If you encounter compatibility issues or need additional features, consider using the WitMotion Python SDK https://wit-motion.gitbook.io/witmotion-sdk/wit-standard-protocol/sdk/python_sdk-quick-start
It provides a comprehensive interface for interacting with WitMotion IMUs. You can develop a custom ROS2 node that reads data from the IMU and publishes it as sensor_msgs/Imu messages. This approach offers flexibility in handling different interfaces and configurations.
Btw, here is a project that focuses on synchronizing multiple IMUs to replace geophones for noise averaging and data processing. The sensor board utilizes an FPGA for data aggregation and a custom layout to minimize mechanical stress, while the processing board features a PicoW module for WiFi communication and a GPS module for time alignment. The project prioritizes size and flexibility, with a focus on minimizing analog components and utilizing readily available hardware. https://www.pcbway.com/project/shareproject/IMU_Array_Sensor_board_84cfc54a.html
