In the previous log we checked that we are able to simulate the IMcoders for getting an ideal output (we will need it for making the algorithm development much easier and for verifying the output of the hardware).

Let's check in Rviz (ROS visualizer) that the movement of our sensors corresponds with the data they output. The procedure is quite easy (pssst! It is also described in the github repo in case you already have one IMcoder). 

Then, we activate the link with the computer, start reading the sensor output, opening the visualizer and...

Voilà! The visualization looks great. Now we are ready to check the sensor in a real wheel. Let's start with that broken bike there...

It doesn't look bad at all. There is some not desired rotation in one axis but the sensors are not calibrated so the result is quite satisfactory.

Ok, so we tried just with one sensor, but why not using all of them?

After wondering why one of the IMcoders had a bit of delay, we found out that the bluetooth driver we are using in the computer for the test is not fully supported so it is not very stable. We tried out with other computers days after and there was no problem at all.