Bad CRC

[Georacer]

Hello,

I'm using this driver with a 3DM-GX3-45 INS.
At initialization, I get the following output:

[ INFO] [1499330673.562021011]: Initializing.
[ INFO] [1499330673.562288111]: Pinging device
Sizes mismatch.
[ERROR] [1499330673.562972659]: Pinging device: Bad CRC.
[ERROR] [1499330673.562991104]: Initialization failed. Please check logs.
[imu_3dm_node-2] process has finished cleanly

I'm running ROS Kinetic under Ubuntu 16.04 and I know it's not officially supported.
Any ideas? Thanks.

[Georacer]

Update: I enabled some couts and the new error message is:

[ INFO] [1499332371.651405243]: Initializing.
[ INFO] [1499332371.651817390]: Pinging device
do some reading...
we have some data...
[ INFO] [1499332371.652610327]: Setting to idle
do some reading...
we have some data...
Sizes mismatch.
[ERROR] [1499332371.652716301]: Setting to idle: Bad CRC.
[ERROR] [1499332371.652741791]: Initialization failed. Please check logs.

Seems to be stepping a bit further for some reason.

[Georacer]

Added some delay:

waitForMsg();
	cout << "do some reading..." << endl;
	usleep(1000);
	recv = read(n);
	cout << "we have some data..." << endl;

and it now seems to work properly.
I get

[ WARN] [1499332758.200981074]: Horizontal accuracy not valid.

but I think this is an unrelated matter.

Close this if you deem it fit.

[ZdenekM]

Hmm, weird. Unfortunately, we have just one unit - few years old one. Maybe the protocol changed a bit or there might be some issue with configuration.

[Georacer]

Mine was also bought in 2014. Anyway, it got the delay value down to 10us and it still works fine.

[2amour]

Hi, @Georacer ,I have the same problem: Bad CRC！And I add some delay, but it didn't work. I'm running ROS Kinetic under Ubuntu 16.04, Can you help me?

[Georacer]

Hi @2amour,
You can find here the final code with all the changes that I made to run the IMU: https://github.com/Georacer/microstrain_3dm_gx3_45/tree/ICRA2017

I just called the IMU.launch launchfile from the main application.

Try to see if it helps you. It's been a very long time since I touched this code, so I can't offer immediate advice.

[2amour]

Thank you @Georacer! I restarted the IMU and it works now!