Panther 1.2: Missing imu_data/topics/services/nodes

Help
1

Are these all the ROS2 topics/services/nodes I should see from the onboard RPi? I noticed I didn’t see the IMU. Is there a service I’m missing I need to start manually? I’d ideally want this on bootup.

Based on the docs there should be topics:

  • /panther/imu/data_raw
  • /panther/imu/is_calibrated
  • /panther/imu/mag

And services:

  • /panther/imu/calibrate
husarion@husarion:~$ ros2 topic list
/diagnostics
/panther/battery
/panther/battery_1_raw
/panther/battery_2_raw
/panther/cmd_vel
/panther/driver/motor_controllers_state
/panther/dynamic_joint_states
/panther/ekf_node/set_pose
/panther/hardware/e_stop
/panther/hardware/io_state
/panther/imu/data
/panther/imu_broadcaster/imu
/panther/imu_broadcaster/transition_event
/panther/joint_state_broadcaster/transition_event
/panther/joint_states
/panther/joy
/panther/joy/set_feedback
/panther/lights/driver/channel_1_frame
/panther/lights/driver/channel_2_frame
/panther/odom/wheels
/panther/odometry/filtered
/panther/panther_base_controller/transition_event
/panther/robot_description
/panther/system_status
/parameter_events
/rosout
/system_status
/tf
/tf_static

husarion@husarion:~$ ros2 service list
/panther/battery_node/describe_parameters
/panther/battery_node/get_parameter_types
/panther/battery_node/get_parameters
/panther/battery_node/list_parameters
/panther/battery_node/set_parameters
/panther/battery_node/set_parameters_atomically
/panther/controller_manager/configure_controller
/panther/controller_manager/describe_parameters
/panther/controller_manager/get_parameter_types
/panther/controller_manager/get_parameters
/panther/controller_manager/list_controller_types
/panther/controller_manager/list_controllers
/panther/controller_manager/list_hardware_components
/panther/controller_manager/list_hardware_interfaces
/panther/controller_manager/list_parameters
/panther/controller_manager/load_controller
/panther/controller_manager/reload_controller_libraries
/panther/controller_manager/set_hardware_component_state
/panther/controller_manager/set_parameters
/panther/controller_manager/set_parameters_atomically
/panther/controller_manager/switch_controller
/panther/controller_manager/unload_controller
/panther/ekf_node/describe_parameters
/panther/ekf_node/enable
/panther/ekf_node/get_parameter_types
/panther/ekf_node/get_parameters
/panther/ekf_node/list_parameters
/panther/ekf_node/set_parameters
/panther/ekf_node/set_parameters_atomically
/panther/ekf_node/set_pose
/panther/ekf_node/toggle
/panther/hardware/aux_power_enable
/panther/hardware/charger_enable
/panther/hardware/digital_power_enable
/panther/hardware/e_stop_reset
/panther/hardware/e_stop_trigger
/panther/hardware/fan_enable
/panther/hardware/motor_power_enable
/panther/imu_broadcaster/describe_parameters
/panther/imu_broadcaster/get_parameter_types
/panther/imu_broadcaster/get_parameters
/panther/imu_broadcaster/list_parameters
/panther/imu_broadcaster/set_parameters
/panther/imu_broadcaster/set_parameters_atomically
/panther/joint_state_broadcaster/describe_parameters
/panther/joint_state_broadcaster/get_parameter_types
/panther/joint_state_broadcaster/get_parameters
/panther/joint_state_broadcaster/list_parameters
/panther/joint_state_broadcaster/set_parameters
/panther/joint_state_broadcaster/set_parameters_atomically
/panther/joy2twist_node/describe_parameters
/panther/joy2twist_node/get_parameter_types
/panther/joy2twist_node/get_parameters
/panther/joy2twist_node/list_parameters
/panther/joy2twist_node/set_parameters
/panther/joy2twist_node/set_parameters_atomically
/panther/joy_node/describe_parameters
/panther/joy_node/get_parameter_types
/panther/joy_node/get_parameters
/panther/joy_node/list_parameters
/panther/joy_node/set_parameters
/panther/joy_node/set_parameters_atomically
/panther/lights/controller/set/animation
/panther/lights/driver/set/brightness
/panther/lights_controller_node/describe_parameters
/panther/lights_controller_node/get_parameter_types
/panther/lights_controller_node/get_parameters
/panther/lights_controller_node/list_parameters
/panther/lights_controller_node/set_parameters
/panther/lights_controller_node/set_parameters_atomically
/panther/lights_driver_node/describe_parameters
/panther/lights_driver_node/get_parameter_types
/panther/lights_driver_node/get_parameters
/panther/lights_driver_node/list_parameters
/panther/lights_driver_node/set_parameters
/panther/lights_driver_node/set_parameters_atomically
/panther/manager_bt_node/describe_parameters
/panther/manager_bt_node/get_parameter_types
/panther/manager_bt_node/get_parameters
/panther/manager_bt_node/list_parameters
/panther/manager_bt_node/set_parameters
/panther/manager_bt_node/set_parameters_atomically
/panther/panther_base_controller/describe_parameters
/panther/panther_base_controller/get_parameter_types
/panther/panther_base_controller/get_parameters
/panther/panther_base_controller/list_parameters
/panther/panther_base_controller/set_parameters
/panther/panther_base_controller/set_parameters_atomically
/panther/panther_system_node/describe_parameters
/panther/panther_system_node/get_parameter_types
/panther/panther_system_node/get_parameters
/panther/panther_system_node/list_parameters
/panther/panther_system_node/set_parameters
/panther/panther_system_node/set_parameters_atomically
/panther/robot_state_publisher/describe_parameters
/panther/robot_state_publisher/get_parameter_types
/panther/robot_state_publisher/get_parameters
/panther/robot_state_publisher/list_parameters
/panther/robot_state_publisher/set_parameters
/panther/robot_state_publisher/set_parameters_atomically
/system_status/describe_parameters
/system_status/get_parameter_types
/system_status/get_parameters
/system_status/list_parameters
/system_status/set_parameters
/system_status/set_parameters_atomically

husarion@husarion:~$ ros2 node list
/panther/battery_node
/panther/controller_manager
/panther/ekf_node
/panther/imu_broadcaster
/panther/joint_state_broadcaster
/panther/joy2twist_node
/panther/joy_node
/panther/lights_controller_node
/panther/lights_driver_node
/panther/manager_bt_node
/panther/panther_base_controller
/panther/panther_system_node
/panther/robot_state_publisher
/panther/transform_listener_impl_aaaaf934e0a0
/system_status
2

Hello @nicholaschan23,
The link you provided leads to documentation for ROS 1 noetic. However, I see from the topics that you are using ROS 2.
Documentation for ROS 2 can be found ROS 2 Beta API | Husarion.
So the current topic name for imu is /imu/data.

However, I see that you have both:
imu/date
as well as imu_broadcaster/imu. So you are probably using the Alpha version of our software and I recommend checking both of these topics.
You may also want to consider upgrading to a Beta image.

As for the imu_calibrated website. It is currently not available because in ROS2 we execute this script right at the beginning of the driver startup.

I hope the answer will be useful. If you have any further questions, please do not hesitate.
Regards

3

Ah I see. The topics are correct then. However, echoing these topics shows nothing.

ros2 topic info /panther/imu/data
Type: sensor_msgs/msg/Imu
Publisher count: 0
Subscription count: 1

ros2 topic info /panther/imu_broadcaster/imu
Type: sensor_msgs/msg/Imu
Publisher count: 1
Subscription count: 0

I’ll look into upgrading the software and keep you posted. Is there a way to check what version we have? Do we follow these steps to upgrade our system?

4

I see that there is one publisher, so the data from that publisher should be available. The question is whether the echo command is executed from the Built-In Computer or from another device. If from another device, make sure you have the implementation installed and the appropriate dds version set to rmw_cyclone_dds.

The link you sent for reinstallation is correct.