Raspberry Pi Sense HAT on Ubuntu Mate (ROS)

@moonwalkeraz wrote:

Hello I’m working on a project for school. I’m using Sense Hat on Raspberry pi 3 B to display pixels on led matrix and IMU to get yaw. But the problem is that I’m trying to run IMU when Ubuntu Mate starts (on boot) in ROS. So I made a service that runs python script on boot. But I get an error from service:

If I run script manually everything works fine, but if I run the service I get the same error.

dec 28 01:25:57 pi-mate picobot-start[870]: File “/home/pi/catkin_ws/src/Picobot/picobot_imu/src/picobot_imu.py”, line 22, in gyroData
dec 28 01:25:57 pi-mate picobot-start[870]: sense.set_imu_config(False, True, True)
dec 28 01:25:57 pi-mate picobot-start[870]: File “/usr/lib/python2.7/dist-packages/sense_hat/sense_hat.py”, line 660, in set_imu_config
dec 28 01:25:57 pi-mate picobot-start[870]: self._init_imu() # Ensure imu is initialised
dec 28 01:25:57 pi-mate picobot-start[870]: File “/usr/lib/python2.7/dist-packages/sense_hat/sense_hat.py”, line 648, in _init_imu
dec 28 01:25:57 pi-mate picobot-start[870]: raise OSError(‘IMU Init Failed’)
dec 28 01:25:57 pi-mate picobot-start[870]: OSError: IMU Init Failed
dec 28 01:25:58 pi-mate picobot-start[870]: No handlers could be found for logger “roslaunch”
dec 28 01:25:58 pi-mate picobot-start[870]: [picobot_imu-6] process has died [pid 1515, exit code 1, cmd /home/pi/catkin_ws/src/Picobot/picobot

Here is my code:

#!/usr/bin/env python
import rospy
from sense_hat import SenseHat
import time
from random import randint
from std_msgs.msg import Float32

sense = SenseHat()

def randomColor():
 red_random = randint(0,255)
 blue_random = randint(0,255)
 green_random = randint(0,255)
 return (red_random,green_random,blue_random)


def gyroData():
    pub = rospy.Publisher('gyro', Float32, queue_size=10)
    rospy.init_node('picobot_imu')
    rate = rospy.Rate(10) # 10hz

    sense.set_imu_config(False, True, True)
    
    while not rospy.is_shutdown():
        o = sense.get_orientation()
       #pitch = o["pitch"]
       #roll = o["roll"]
        yaw = o["yaw"]
       #rospy.loginfo(yaw)
        pub.publish(yaw)
        rate.sleep()

def main():
    
    sense.clear((0, 0, 0))
    sense.low_light = True
    g =(0,153,153)
    bl = (0,153,0)
    b = (0,0,0)
    picobot_pixels = [
    g,g,b,g,b,g,g,b,
    g,g,b,g,b,g,b,b,
    g,b,b,g,b,g,g,b,
    b,b,b,b,b,b,b,b,
    g,g,g,b,bl,b,bl,b,
    g,b,g,b,b,bl,b,b,
    g,g,g,b,bl,bl,bl,b,
    b,b,b,b,b,b,b,b
    ]
    sense.set_pixels(picobot_pixels)
    gyroData()
if __name__ == '__main__':
     main()

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