N100 启动报如下2个错，请问如何解决？谢谢
king@ubuntu:~$ roslaunch fdilink_ahrs ahrs_driver.launch
... logging to /home/king/.ros/log/b291930e-2c08-11ee-a637-48b02d788332/roslaunch-ubuntu-4716.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.2.174:37875/
SUMMARY
========
PARAMETERS
* /ahrs_driver/baud: 115200
* /ahrs_driver/debug: False
* /ahrs_driver/device_type: 0
* /ahrs_driver/imu_frame: gyro_link
* /ahrs_driver/imu_topic: /imu
* /ahrs_driver/mag_pose_2d_topic: /mag_pose_2d
* /ahrs_driver/port: /dev/fdilink_ahrs
* /rosdistro: noetic
* /rosversion: 1.16.0
NODES
/
ahrs_driver (fdilink_ahrs/ahrs_driver)
auto-starting new master
process: started with pid
ROS_MASTER_URI=http://192.168.2.174:11311
setting /run_id to b291930e-2c08-11ee-a637-48b02d788332
process: started with pid
started core service
process: started with pid
[ INFO] : Serial Port initialized
[ INFO] : ahrsBringup::processLoop: start
[ WARN] : check crc16 faild(ahrs).
[ WARN] : check crc16 faild(ahrs).
[ WARN] : check crc16 faild(ahrs).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(ahrs).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(ahrs).
[ WARN] : check crc16 faild(ahrs).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(ahrs).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(ahrs).
[ WARN] : check crc16 faild(ahrs).
[ WARN] : check crc16 faild(ahrs).
[ WARN] : check crc16 faild(ahrs).
[ WARN] : check crc16 faild(ahrs).
[ WARN] : check crc16 faild(ahrs).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(ahrs).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(imu).
[ WARN] : check crc16 faild(imu).
ahrs_driver.launch文件配置如下：
<launch>
<node pkg="fdilink_ahrs" name="ahrs_driver" type="ahrs_driver" output="screen" >
<!-- 是否输出debug信息 -->
<param name="debug"value="false"/>
<!-- 串口设备，可通过rules.d配置固定 -->
<param name="port"value="/dev/fdilink_ahrs"/>
<!-- <param name="port"value="/dev/fdilink_ahrs"/> -->
<!-- 波特率 -->
<!--<param name="baud"value="921600"/>-->
<param name="baud"value="115200"/>
<!-- 发布的imu话题名 -->
<!--<param name="imu_topic"value="/mobile_base/sensors/imu_data"/>-->
<param name="imu_topic"value="/imu"/>
<!-- 发布的imu话题中的frame_id -->
<param name="imu_frame"value="gyro_link"/>
<!-- 地磁北的yaw角 -->
<param name="mag_pose_2d_topic"value="/mag_pose_2d"/>
<!-- 发布的数据基于不同设备有不同的坐标系 -->
<param name="device_type"value="0"/> <!-- 0: origin_data, 1: for single imu or ucar in ROS, 2:for Xiao in ROS -->//这里改成0和1都无效
</node>
<!--<include file='$(find fdilink_ahrs)/launch/tf.launch' />-->
</launch>
最后，通过rostopic echo /imu 查看话题事件，无数据
本帖最后由 WHEELTEC-Until 于 2023-8-15 09:58 编辑
1.check crc16 faild报错
这里数据校验不通过，原因可能是数据量太大，波特率跟不上了。提高波特率或者减少数据输出类型、频率试下
2.rostopic echo /imu 无数据
如果ROS没有数据，先去Windows上用上位机检查一下是否关闭了数据的输出，或者尝试恢复出厂设置
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