Community Forum

IMU data from Reach Kit

(linusnie) #22

Thanks! I will try and report back if I get it to work. I also found some information here: Getting IMU data

edit: where in the specs did you find the password?
edit2: it’s mentioned in the reachView documentation: https://docs.emlid.com/reach/common/reachview/

(Ago) #23

That’s actually wifi password which is mentioned there. Yes, this is the same. But I probably found the information here: https://github.com/emlid/reach-docs/blob/old-docs/docs/software-development.md (too bad this page is not available any more).

(Sudha Vana) #25

Has anybody tried to get the IMU data from reach kit?
How can I do it from putty? Can someone gimme a brief? Is it tough process?

(Simon Cool) #26

Same question, would need the IMU data for a robotics project

(Jeremy) #27

@igor.vereninov, I would also be interested in the raw IMU data from the MPU9250 for use in post processing the nav solution of a point on the vehicle. It would be good enough for me if the full 200Hz data could be logged onboard or externally. Has anyone successfully done this ?

(Johannes Eberenz) #28

I got this to work quickly using this code:

For a quick test:
pip install spidev

change line 6 in IMU.py to
imu = MPU9250(spi_bus_number = 5, spi_dev_number = 1)

and run python IMU.py
will output the sensor values until you abort
Acc: -0.006 +0.081 +0.990 Gyr: +2.317 +1.098 +0.854 Mag: +37.691 +14.026 +21.0451

(Feepyj) #29

Can you give the novice guide to how you used the python code to start getting data out of the reach? How did you connect, where did you store and run? Thx.

…success after messing around with it for a little bit.

Steps for someone else:
logged into the reach as root:
used a file manager window and connected to the reach as a server.
copied the files (modified as above) into a new directory /imu
SSH into the reach root@xxx.xxx.xx.xx
cd in /imu
python IMU.py
started spitting out numbers the look reasonable. Need to figure out how to make sence of the Gyr and Mag readings.

Seems like you could modify the script to send these values to a TPC address/port and get the numbers out in a stream.

(Patrick Pan) #30

ANyone know a good way to convert the output to roll pitch yaw? I am getting the following output following ago’s method

Acc: +0.047 -0.003 +0.994 Gyr: -0.915 +0.183 +0.610 Mag: -11.795 +4.275 -78.898
Acc: +0.055 +0.004 +1.010 Gyr: -0.854 +0.061 +0.549 Mag: -11.795 +4.275 -78.898
Acc: +0.047 -0.007 +1.009 Gyr: -0.671 -0.122 +0.610 Mag: -11.795 +4.275 -78.898
Acc: +0.048 -0.013 +0.980 Gyr: -0.732 -0.061 +0.427 Mag: -9.293 -0.356 -77.175
Acc: +0.056 -0.007 +1.006 Gyr: -0.793 +0.183 +0.427 Mag: -9.293 -0.356 -77.175
Acc: +0.054 -0.008 +1.006 Gyr: -0.915 +0.000 +0.427 Mag: -9.293 -0.356 -77.175
Acc: +0.057 -0.010 +0.992 Gyr: -0.854 +0.000 +0.488 Mag: -9.293 -0.356 -77.175

(Feepyj) #31

Do a lot of math…or use RTIMULib2, which does all of the math for you. Search for other posts on the forum for the IMU and using the RTIMULib2 implementation to get useful data out.

Here’s how I did it. https://github.com/87yj/EmlidIMU

There’s also a RTIMULib2 branch on the forum that’s parsed out all of the GUI stuff.

(ARi) #32

We’ve made some ROS node to get IMU values out of the reach. We tested it successfully for reach M+. It’s based on the RTIMULib2 that we compiled for the reach, for reasons we were not able to compile directly on it. Let us know if there are issues we’ll update the readme and make the required edit to the code. This outputs IMU message (Pose + Gyros + Accel) and the Compass as a MagneticField message.

(Jimmy Fraiture) #33


I’m using your code for a moment but now I need to get the IMU data WITH the GPS data on the serial ouput (with OTG). Did you find a solution to do this?