OpenCR firmware for ROS2 compatible with discontinued accelerometer

Meldor · March 7, 2021, 6:21pm

My Turtlebot3 is from 2017, so would have the accelerometer.
I am switching to ROS2 Foxy, and am wondering if the new firmware for ROS2 is compatible with my older hardware?
Or is my old firmware compatible with ROS2?
Thanks

Andrew · March 8, 2021, 10:58pm

Hello @Meldor thanks for your question! It brings up a good question regarding the OpenCR1.0 firmware. Unfortunately the firmware / ROS details are not my area of expertise, but I think @willson or @Yogurt_Man should be able to provide more information.

As it’s related to the updated resources for ROS, there may also be some related content at https://answers.ros.org/questions/

willson · March 9, 2021, 4:35am

Hi @Meldor
The IMU will be automatically selected by the IMU driver in OpenCR library as shown below.
Thank you.

github.com

ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/IMU/imu_selector.cpp

#include "imu_selector.h"

bool cIMUDevice::begin( void )
{
  bool result = false;

  if(DEV1.begin() == true)
  {
    device_model = MPU9250;
    result = true;
  }
  else if (DEV2.begin() == true)
  {
    device_model = ICM20468;
    result = true;
  }
  
  return result;
}

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Meldor · March 10, 2021, 12:16am

Thank you. That answers my question, and gives me the url for where the turtlebot stuff is in Github. I just downloaded the ROS programming book, and am starting to read about editing the OpenCR.
Thanks!