Protocol version of ROS node does not match device protocol!

[andreucm]

Hi,

We are testing this ROS package with the following IMX-5 RUG-3 device:
$ cltool -c /dev/ttyACM0
(1) DID_DEV_INFO: SN60432, Fw 1.9.1.0 r613, 2023-03-17 15:56:47, Proto 1.4.100.9

1. The software versions are:

   • inertial-sense-ros at master (b798274)
   • inertial-sense-sdk at 952d452a

2. Builds ok with catkin_make.

3. After editting launch/test_params.yaml with true/false options, /dev/ttyACM0 port and inclination/declination, I try to launch the node with:
   roslaunch inertial_sense_ros test_YAML_params.launch

and I get the following error (third line):

...
[ INFO] [/inertial_sense_node]: Connecting to serial port "/dev/ttyACM0", at 921600 baud
[ INFO] [/inertial_sense_node]: Connected to uINS 60432 on "/dev/ttyACM0", at 921600 baud
[FATAL] [/inertial_sense_node]: Protocol version of ROS node does not match device protocol!
[ INFO] [/inertial_sense_node]: Attempting to enable GPS1 Pos data stream.
[ INFO] [/inertial_sense_node]: Attempting to enable strobe in data stream.
[ INFO] [/inertial_sense_node]: Attempting to enable flash config data stream.
[ INFO] [/inertial_sense_node]: Attempting to enable Mag data stream.
[ INFO] [/inertial_sense_node]: Attempting to enable baro data stream.
[ INFO] [/inertial_sense_node]: Attempting to enable IMU data stream.


RTKCfgBits: 0
[ INFO] [/inertial_sense_node]: navigation rate change from 8ms to 4ms, resetting uINS to make change
[ WARN] [/inertial_sense_node]: Device reset required.

Shutting down Node.

[inertial_sense_node-2] process has finished cleanly
log file: /home/andreu/.ros/log/6cf3fd0e-f661-11ee-94c6-6306a01e8ad7/inertial_sense_node-2*.log
...

Do you know if there is some firmware issue ? I see that the last commit of the inertial-sense-ros repository tells about support to firmware version 1.9.1, which is the firmware version of the device according the cltool output.

Any idea ?

Thanks a lot !

Andreu

[andrewpriddis]

@andreucm - our latest ros code now lives within the inertial_sense_sdk repo. Firmware beyond 1.9.1 should be supported. My suggestion would be to upload our latest firmware 2.0.6 onto the module, then clone inertial_sense_sdk into catkin_ws/src. Do not clone inertial_sense_ros into your src folder. Within inertial_sense_sdk pull and update the submodules.

The current RUG-3 device max output period is 7ms. so change that in the params file.

Lastly, it looks like there is a build bug in the latest firmware, so I'll get that fixed quickly. Hope that all makes sense.