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Witmotion WT901C485 ROS2 Driver

Description

This is a ros2 driver for WT901C485.
I check this program only in ROS2 humble with ubuntu22.04.

Installation

install serial_connect library

git clone -b v1.2 https://github.com/k-trash/serial_connect
cd serial_connect
mkdir build
cd build
cmake ..
make
sudo make install

add user to dialout group

sudo gpasswd -a $USERNAME dialout

then reboot

clone repository

cd <Your-ROS2-WS>/src
git clone https://github.com/k-trash/witmotion_wt901
cd ..
colcon build --symlink-install --packages-select witmotion_wt901

Usage

prepare sensor

Make sure your WT901C485 communicate at 115200 baudrate.
You can modify the baudrate with windows application which Witmotion provides.

run ros2 node

cd <Your-ROS2-WS>
source install/setup.bash
ros2 run witmotion_wt901 witmotion_wt901_node

you can also use launch file.

ros2 launch witmotion_wt901 witmotion_wt901.launch.xml

output

topic name topic type
/imu/data_raw sensor_msgs::msg::Imu
/mag/data_raw sensor_msgs::msg::MagneticField

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