MW-AHRS X1 빌드 관련 오류 문의 > Module_Forum

안녕하세요. 아키텍처가 달라서 생기는 현상입니다.

https://github.com/ntrexlab/2th_NtrexAHRS_lib_ROS

여기서 해당되는 파일로 교체 하셔야됩니다.

답변 주셔서 감사합니다. 말씀 주신대로 변경하였음에도
scout@ubuntu:~/PC_AHRS_ROS2$ colcon build
Starting >>> stella_ahrs
--- stderr: stella_ahrs                               
/home/scout/PC_AHRS_ROS2/stella_ahrs/src/listener.cpp: In function ‘void* AHRS_thread(void*)’:
/home/scout/PC_AHRS_ROS2/stella_ahrs/src/listener.cpp:49:1: warning: no return statement in function returning non-void [-Wreturn-type]
  49 | }
      | ^
/home/scout/PC_AHRS_ROS2/stella_ahrs/src/listener.cpp:4:25: warning: unused parameter ‘arg’ [-Wunused-parameter]
    4 | void *AHRS_thread(void *arg)
      |                  ~~~~~~^~~
/home/scout/PC_AHRS_ROS2/stella_ahrs/src/listener.cpp: In function ‘int main(int, char**)’:
/home/scout/PC_AHRS_ROS2/stella_ahrs/src/listener.cpp:52:26: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
  52 |        if(MW_SerialOpen("/dev/ttyUSB0", 115200) < 0)
      |                          ^~~~~~~~~~~~~~
/usr/bin/ld: CMakeFiles/stella_ahrs_node.dir/src/listener.cpp.o: in function `AHRS_thread(void*)':
listener.cpp:(.text+0x34): undefined reference to `MW_SerialRecv(long*, int*, char*)'
/usr/bin/ld: CMakeFiles/stella_ahrs_node.dir/src/listener.cpp.o: in function `main':
listener.cpp:(.text+0x78c): undefined reference to `MW_SerialOpen(char*, int)'
/usr/bin/ld: listener.cpp:(.text+0xb58): undefined reference to `Mw_SerialClose()'
/usr/bin/ld: CMakeFiles/stella_ahrs_node.dir/src/MwAHRS.cpp.o: in function `Mw_AHRS_init(int)':
MwAHRS.cpp:(.text+0x48): undefined reference to `MW_SerialSend(long, char*)'
/usr/bin/ld: MwAHRS.cpp:(.text+0x5c): undefined reference to `MW_SerialSend(long, char*)'
/usr/bin/ld: MwAHRS.cpp:(.text+0x70): undefined reference to `MW_SerialSend(long, char*)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/stella_ahrs_node.dir/build.make:193: stella_ahrs_node] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/stella_ahrs_node.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed  <<< stella_ahrs [13.0s, exited with code 2]

Summary: 0 packages finished [13.6s]
  1 package failed: stella_ahrs
  1 package had stderr output: stella_ahrs
위와같은 오류가 발생하여서 다시 댓글 남깁니다.

혹시 코드도 해당 깃헙에 업로드 된 걸로 받으셨는지요?

번거로우시겠지만 확인 부탁드리겠습니다.

MW_AHRS_aarch64.a 이 파일로 교체 후 cmakelist또한 target_link_libraries(${PROJECT_NAME}_node ${CMAKE_CURRENT_SOURCE_DIR}/lib/MW_AHRS_aarch64.a)로 변경 하여 빌드 했을때 jujangchoi@jujangchoi-MS-7E01:~/PC_AHRS_ROS2$ colcon build
Starting >>> stella_ahrs
--- stderr: stella_ahrs                             
/home/jujangchoi/PC_AHRS_ROS2/stella_ahrs/src/listener.cpp: In function ‘void* AHRS_thread(void*)’:
/home/jujangchoi/PC_AHRS_ROS2/stella_ahrs/src/listener.cpp:49:1: warning: no return statement in function returning non-void [-Wreturn-type]
  49 | }
      | ^
/home/jujangchoi/PC_AHRS_ROS2/stella_ahrs/src/listener.cpp:4:25: warning: unused parameter ‘arg’ [-Wunused-parameter]
    4 | void *AHRS_thread(void *arg)
      |                  ~~~~~~^~~
/home/jujangchoi/PC_AHRS_ROS2/stella_ahrs/src/listener.cpp: In function ‘int main(int, char**)’:
/home/jujangchoi/PC_AHRS_ROS2/stella_ahrs/src/listener.cpp:52:26: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
  52 |        if(MW_SerialOpen("/dev/ttyUSB0", 115200) < 0)
      |                          ^~~~~~~~~~~~~~
/usr/bin/ld: CMakeFiles/stella_ahrs_node.dir/src/listener.cpp.o: in function `AHRS_thread(void*)':
listener.cpp:(.text+0x3f): undefined reference to `MW_SerialRecv(long*, int*, char*)'
/usr/bin/ld: CMakeFiles/stella_ahrs_node.dir/src/listener.cpp.o: in function `main':
listener.cpp:(.text+0x905): undefined reference to `MW_SerialOpen(char*, int)'
/usr/bin/ld: listener.cpp:(.text+0xf3e): undefined reference to `Mw_SerialClose()'
/usr/bin/ld: CMakeFiles/stella_ahrs_node.dir/src/MwAHRS.cpp.o: in function `Mw_AHRS_init(int)':
MwAHRS.cpp:(.text+0x52): undefined reference to `MW_SerialSend(long, char*)'
/usr/bin/ld: MwAHRS.cpp:(.text+0x70): undefined reference to `MW_SerialSend(long, char*)'
/usr/bin/ld: MwAHRS.cpp:(.text+0x8e): undefined reference to `MW_SerialSend(long, char*)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/stella_ahrs_node.dir/build.make:193: stella_ahrs_node] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/stella_ahrs_node.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed  <<< stella_ahrs [3.06s, exited with code 2]

Summary: 0 packages finished [3.18s]
  1 package failed: stella_ahrs
  1 package had stderr output: stella_ahrs
오류가 뜹니다

아래 ros2 패키지가 X1에 맞춰진 최신 패키지입니다.
https://github.com/ntrexlab/2th_NtrexAHRS_lib_ROS/tree/ver_2.0/ros2_example/stella_ahrs

이 패키지로 확인하여 주세요.

위 패키지로 빌드 하여 ros2 launch stella_ahrs stella_ahrs_launch.py를 실행하니

scout@ubuntu:~/2th_NtrexAHRS_lib_ROS/ros2_example$ ros2 launch stella_ahrs stella_ahrs_launch.py
[INFO] [launch]: All log files can be found below /home/scout/.ros/log/2025-09-04-16-50-26-135283-ubuntu-102166
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught multiple exceptions when trying to load file of format [py]:
 - TypeError: LifecycleNode.__init__() missing 2 required keyword-only arguments: 'name' and 'namespace'
 - InvalidFrontendLaunchFileError: The launch file may have a syntax error, or its format is unknown이 떠서 launch.py에 node_name='stella_ahrs_node', name='stella_ahrs_node', 를 추가한 후 다시 빌드하여 실행하였더니
scout@ubuntu:~/2th_NtrexAHRS_lib_ROS/ros2_example$ ros2 launch stella_ahrs stella_ahrs_launch.py
[INFO] [launch]: All log files can be found below /home/scout/.ros/log/2025-09-04-16-54-55-316236-ubuntu-103167
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught multiple exceptions when trying to load file of format [py]:
 - TypeError: Node.__init__() missing 1 required keyword-only argument: 'executable'
 - InvalidFrontendLaunchFileError: The launch file may have a syntax error, or its format is unknown

이런 오류가 발생합니다

그리구 원래 launch.py에 'name' and 'namespace' 이거 있던데 왜 처음에 저 오류가 뜰가요?

해당 패키지는 ros2 foxy를 기준으로 개발되었습니다.
아마 사용하시는 ros2 버전이 humble 혹은 jazzy이신 걸로 예상됩니다.

ros2 humble 부터 LifecycleNode의 설정 인자를 작성하는 방법이 일부 변경되어 발생하는 에러입니다.

    driver_node = LifecycleNode(package='stella_ahrs',
                                node_executable='stella_ahrs_node',
                                node_name='stella_ahrs_node',
                                output='screen',
                                emulate_tty=True,
                                node_namespace='/',
                                )

위 부분에서 아래처럼 node_를 제거하시면 해당 에러가 발생하지 않습니다.

    driver_node = LifecycleNode(package='stella_ahrs',
                                executable='stella_ahrs_node',
                                name='stella_ahrs_node',
                                output='screen',
                                emulate_tty=True,
                                namespace='/',
                                )

수정 후 launch단계에서 scout@ubuntu:~/2th_NtrexAHRS_lib_ROS/ros2_example$ ros2 launch stella_ahrs stella_ahrs_launch.py
[INFO] [launch]: All log files can be found below /home/scout/.ros/log/2025-09-04-17-12-15-675829-ubuntu-117130
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [stella_ahrs_node-1]: process started with pid [117141]
[stella_ahrs_node-1] [INFO] [1756973541.162734274] [stella_ahrs_node]: product_id  : 5011
[stella_ahrs_node-1]
[stella_ahrs_node-1] [INFO] [1756973541.163108751] [stella_ahrs_node]: software_ver : 500
[stella_ahrs_node-1]
[stella_ahrs_node-1] [INFO] [1756973541.163154352] [stella_ahrs_node]: hardware_ver : 400
[stella_ahrs_node-1]
[stella_ahrs_node-1] [INFO] [1756973541.163178673] [stella_ahrs_node]: function_ver : 15
[stella_ahrs_node-1]
[stella_ahrs_node-1] Set Error : [33], [18] index mismatch
[stella_ahrs_node-1] Set Error : [34], [19] index mismatch
[stella_ahrs_node-1] Set Error : [35], [15] index mismatch
[stella_ahrs_node-1] Set Error : [36], [07] index mismatch
[stella_ahrs_node-1] [INFO] [1756973545.255926519] [stella_ahrs_node]: MW-AHRS ROS Init Fail

이런 오류가 발생합니다.
ttyUSB는 제대로 맞춰 놓은 상태입니다

아래 공지사항에서 pdf 문서를 확인하여 보시면 유사한 문제가 발생하였을 때 해결했던 방법이 있습니다.
https://idea.synology.me/bbs/board.php?bo_table=forum&wr_id=38

해당 문서의 내용을 적용하였을 때 동일한 문제가 발생하는지 확인하여 주세요.

scout@ubuntu:~/2th_NtrexAHRS_lib_ROS/ros2_example$ ros2 launch stella_ahrs stella_ahrs_launch.py
[INFO] [launch]: All log files can be found below /home/scout/.ros/log/2025-09-04-17-45-07-457232-ubuntu-125066
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [stella_ahrs_node-1]: process started with pid [125077]

이 상태에서 오류는 뜨지 않지만
scout@ubuntu:~$ ros2 topic list
/diagnostics
/parameter_events
/rosout
/stella_ahrs_node/transition_event
/velodyne_packets
/velodyne_points
토픽에 imu가 뜨지 않습니다.

토픽이 안 나오는 현상과 토픽 publish 전 나와야 하는 로그가 일부 보이지 않는 것으로 확인됩니다.

혹시 수정하신 mw_ahrs.cpp 파일의 코드를 올려주실 수 있으실까요?

#include "mw_ahrs.hpp"
#include "mw_ahrsX1_def.hpp"

static bool AHRS = false;

namespace ntrex
{
  void MwAhrsRosDriver::StartReading()
  {
    AHRS = true;
    sleep(1);
    reading_thread_ = std::thread(&MwAhrsRosDriver::MwAhrsRead, this);
  }

  void MwAhrsRosDriver::StopReading()
  {
    if (AHRS)
    {
      AHRS = false;
      sleep(1);
      if (reading_thread_.joinable())
      {
        reading_thread_.join();
      }
    }
  }

  void MwAhrsRosDriver::StartPubing()
  {
    if (AHRS)
      publisher_thread_ = std::thread(&MwAhrsRosDriver::publish_topic, this);
  }

  void MwAhrsRosDriver::StopPubing()
  {
    if (publisher_thread_.joinable())
      publisher_thread_.join();
  }

  void MwAhrsRosDriver::MW_AHRS_Covariance(void)
  {
    imu_data_raw_msg = sensor_msgs::msg::Imu();
    imu_data_msg = sensor_msgs::msg::Imu();
    imu_magnetic_msg = sensor_msgs::msg::MagneticField();
    imu_yaw_msg = std_msgs::msg::Float64();

    linear_acceleration_cov = linear_acceleration_stddev_ * linear_acceleration_stddev_;
    angular_velocity_cov = angular_velocity_stddev_ * angular_velocity_stddev_;
    magnetic_field_cov = magnetic_field_stddev_ * magnetic_field_stddev_;
    orientation_cov = orientation_stddev_ * orientation_stddev_;

    imu_data_raw_msg.linear_acceleration_covariance[0] =
        imu_data_raw_msg.linear_acceleration_covariance[4] =
            imu_data_raw_msg.linear_acceleration_covariance[8] =
                imu_data_msg.linear_acceleration_covariance[0] =
                    imu_data_msg.linear_acceleration_covariance[4] =
                        imu_data_msg.linear_acceleration_covariance[8] =
                            linear_acceleration_cov;

    imu_data_raw_msg.angular_velocity_covariance[0] =
        imu_data_raw_msg.angular_velocity_covariance[4] =
            imu_data_raw_msg.angular_velocity_covariance[8] =
                imu_data_msg.angular_velocity_covariance[0] =
                    imu_data_msg.angular_velocity_covariance[4] =
                        imu_data_msg.angular_velocity_covariance[8] =
                            angular_velocity_cov;

    imu_data_msg.orientation_covariance[0] =
        imu_data_msg.orientation_covariance[4] =
            imu_data_msg.orientation_covariance[8] =
                orientation_cov;

    imu_magnetic_msg.magnetic_field_covariance[0] =
        imu_magnetic_msg.magnetic_field_covariance[4] =
            imu_magnetic_msg.magnetic_field_covariance[8] =
                magnetic_field_cov;
  }

  void MwAhrsRosDriver::MwAhrsRead()
  {
    while (AHRS)
    {
      unsigned char data[8];

      if (MW_AHRS_Read(data))
      {
        switch ((int)(unsigned char)data[1])
        {
        case ACC:
          acc_value[0] = (int16_t)(((int)(unsigned char)data[2] | (int)(unsigned char)data[3] << 8)) / 1000.0;
          acc_value[1] = (int16_t)(((int)(unsigned char)data[4] | (int)(unsigned char)data[5] << 8)) / 1000.0;
          acc_value[2] = (int16_t)(((int)(unsigned char)data[6] | (int)(unsigned char)data[7] << 8)) / 1000.0;

          imu_data_raw_msg.linear_acceleration.x = imu_data_msg.linear_acceleration.x =
              acc_value[0] * convertor_g2a;
          imu_data_raw_msg.linear_acceleration.y = imu_data_msg.linear_acceleration.y =
              acc_value[1] * convertor_g2a;
          imu_data_raw_msg.linear_acceleration.z = imu_data_msg.linear_acceleration.z =
              acc_value[2] * convertor_g2a;

          break;

        case GYO:
          gyr_value[0] = (int16_t)(((int)(unsigned char)data[2] | (int)(unsigned char)data[3] << 8)) / 10.0;
          gyr_value[1] = (int16_t)(((int)(unsigned char)data[4] | (int)(unsigned char)data[5] << 8)) / 10.0;
          gyr_value[2] = (int16_t)(((int)(unsigned char)data[6] | (int)(unsigned char)data[7] << 8)) / 10.0;

          imu_data_raw_msg.angular_velocity.x = imu_data_msg.angular_velocity.x =
              gyr_value[0] * convertor_d2r;
          imu_data_raw_msg.angular_velocity.y = imu_data_msg.angular_velocity.y =
              gyr_value[1] * convertor_d2r;
          imu_data_raw_msg.angular_velocity.z = imu_data_msg.angular_velocity.z =
              gyr_value[2] * convertor_d2r;

          break;

        case DEG:
          deg_value[0] = (int16_t)(((int)(unsigned char)data[2] | (int)(unsigned char)data[3] << 8)) / 100.0;
          deg_value[1] = (int16_t)(((int)(unsigned char)data[4] | (int)(unsigned char)data[5] << 8)) / 100.0;
          deg_value[2] = (int16_t)(((int)(unsigned char)data[6] | (int)(unsigned char)data[7] << 8)) / 100.0;

          roll = deg_value[0] * convertor_d2r;
          pitch = deg_value[1] * convertor_d2r;
          yaw = deg_value[2] * convertor_d2r;

          tf_orientation = Euler2Quaternion(roll, pitch, yaw);

          imu_yaw_msg.data = deg_value[2];

          imu_data_msg.orientation.x = tf_orientation.x();
          imu_data_msg.orientation.y = tf_orientation.y();
          imu_data_msg.orientation.z = tf_orientation.z();
          imu_data_msg.orientation.w = tf_orientation.w();

          break;

        case MAG:
          mag_value[0] = (int16_t)(((int)(unsigned char)data[2] | (int)(unsigned char)data[3] << 8)) / 10.0;
          mag_value[1] = (int16_t)(((int)(unsigned char)data[4] | (int)(unsigned char)data[5] << 8)) / 10.0;
          mag_value[2] = (int16_t)(((int)(unsigned char)data[6] | (int)(unsigned char)data[7] << 8)) / 10.0;

          imu_magnetic_msg.magnetic_field.x = mag_value[0] / convertor_ut2t;
          imu_magnetic_msg.magnetic_field.y = mag_value[1] / convertor_ut2t;
          imu_magnetic_msg.magnetic_field.z = mag_value[2] / convertor_ut2t;

          break;
        }
      }
    }
  }

  void MwAhrsRosDriver::publish_topic()
  {
    rclcpp::Rate rate(1000);

    while (rclcpp::ok() && AHRS)
    {
      rclcpp::Time now = this->get_clock()->now();

      imu_data_raw_msg.header.stamp = imu_data_msg.header.stamp = imu_magnetic_msg.header.stamp = now;
      imu_data_raw_msg.header.frame_id = imu_data_msg.header.frame_id = imu_magnetic_msg.header.frame_id = frame_id_;

      imu_data_raw_pub_->publish(std::move(imu_data_raw_msg));
      imu_data_pub_->publish(std::move(imu_data_msg));
      imu_mag_pub_->publish(std::move(imu_magnetic_msg));
      imu_yaw_pub_->publish(std::move(imu_yaw_msg));

      if (publish_tf_)
      {
        geometry_msgs::msg::TransformStamped tf;
        tf.header.stamp = now;
        tf.header.frame_id = parent_frame_id_;
        tf.child_frame_id = frame_id_;
        tf.transform.translation.x = 0.0;
        tf.transform.translation.y = 0.0;
        tf.transform.translation.z = 0.0;
        tf.transform.rotation = imu_data_msg.orientation;

        broadcaster_->sendTransform(tf);
      }
      rate.sleep();
    }
  }

  tf2::Quaternion MwAhrsRosDriver::Euler2Quaternion(float roll, float pitch, float yaw)
  {
    float qx = (sin(roll / 2) * cos(pitch / 2) * cos(yaw / 2)) -
              (cos(roll / 2) * sin(pitch / 2) * sin(yaw / 2));
    float qy = (cos(roll / 2) * sin(pitch / 2) * cos(yaw / 2)) +
              (sin(roll / 2) * cos(pitch / 2) * sin(yaw / 2));
    float qz = (cos(roll / 2) * cos(pitch / 2) * sin(yaw / 2)) -
              (sin(roll / 2) * sin(pitch / 2) * cos(yaw / 2));
    float qw = (cos(roll / 2) * cos(pitch / 2) * cos(yaw / 2)) +
              (sin(roll / 2) * sin(pitch / 2) * sin(yaw / 2));

    tf2::Quaternion q(qx, qy, qz, qw);
    return q;
  }

  bool MwAhrsRosDriver::MW_AHRS_Setting()
  {
    bool res = true;

    long product_id = 0, software_ver = 0, hardware_ver = 0, function_ver = 0;

    long sync_port = CI_USB, sync_period = 10, sync_trmode = CI_Binary, sync_data = 15, FlashWrite = 1;

    res &= MW_AHRS_GetValI(product_id,  CI_PRODUCT_ID);
    res &= MW_AHRS_GetValI(software_ver, CI_SW_VERSION);
    res &= MW_AHRS_GetValI(hardware_ver, CI_HW_VERSION);
    res &= MW_AHRS_GetValI(function_ver, CI_FN_VERSION);

    RCLCPP_INFO(this->get_logger(), "product_id  : %ld \n", product_id);
    RCLCPP_INFO(this->get_logger(), "software_ver : %ld \n", software_ver);
    RCLCPP_INFO(this->get_logger(), "hardware_ver : %ld \n", hardware_ver);
    RCLCPP_INFO(this->get_logger(), "function_ver : %ld \n", function_ver);

    res &= MW_AHRS_SetValI(sync_port,  CI_SYNC_PORT);
    res &= MW_AHRS_SetValI(sync_period, CI_SYNC_PERIOD);
    res &= MW_AHRS_SetValI(sync_trmode, CI_SYNC_TRMODE);
    res &= MW_AHRS_SetValI(sync_data,  CI_SYNC_DATA);
    //res &= MW_AHRS_SetValI(FlashWrite,  CI_SYS_COMMAND);

    //res &= MW_AHRS_NvicReset ();

    return res;
  }

  MwAhrsRosDriver::MwAhrsRosDriver(char *port, int baud_rate) : Node("MW_AHRS_ROS2")
  {
    bool res = false;

    res = MW_AHRS_Connect(port, baud_rate);

    if(res) res = MW_AHRS_Setting();

    if (res)
    {
      this->declare_parameter("linear_acceleration_stddev", 0.0);
      this->declare_parameter("angular_velocity_stddev", 0.0);
      this->declare_parameter("magnetic_field_stddev", 0.0);
      this->declare_parameter("orientation_stddev", 0.0);

      this->get_parameter("linear_acceleration_stddev", linear_acceleration_stddev_);
      this->get_parameter("angular_velocity_stddev", angular_velocity_stddev_);
      this->get_parameter("magnetic_field_stddev", magnetic_field_stddev_);
      this->get_parameter("orientation_stddev", orientation_stddev_);

      MW_AHRS_Covariance();

      StartReading();

      auto qos = rclcpp::QoS(rclcpp::KeepLast(10)) .reliable() .durability_volatile();

      imu_data_raw_pub_ = this->create_publisher<sensor_msgs::msg::Imu>("imu/data_raw", qos);
      imu_data_pub_ = this->create_publisher<sensor_msgs::msg::Imu>("imu/data", qos);
      imu_mag_pub_ = this->create_publisher<sensor_msgs::msg::MagneticField>("imu/mag", qos);
      imu_yaw_pub_ = this->create_publisher<std_msgs::msg::Float64>("imu/yaw", qos);

      StartPubing();
      RCLCPP_INFO(this->get_logger(), "MW-AHRS ROS Init Success");
    }
    else
    {
      RCLCPP_INFO(this->get_logger(), "MW-AHRS ROS Init

확인이 늦어서 죄송합니다.

혹시 수정 하신 부분이 어디이실까요?

/stella_ahrs_node/transition_event 해당 토픽이 보여서 말씀드렸습니다.