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bno055

CodeFactor

Description

ROS node for publishing BNO055 IMU data. Uses the adafruit BNO055 python library.

Goal

Easy integration of BNO055 sensors into a ROS software environment.

Build Instructions

PLEASE run on fresh system and update install instructions (not sure what was installed by default on my rpi)

  • No compilation needed however msg files must be loaded through a catkin_make and source of the devel/setup.bash

Nodes

imu

file: bno055_ros.py

Node name:

  • bno055

Topics:

  • jetson/imu: Publishes geometry_msgs/Imu Contains quaternion orientation, linear acceleration (m/s^2), and angular velocity (rads/s) .

  • jetson/imu_info: Publishes bno055_info Contains the information on the IMUs calibration (accel, gyro, magno, sys) status and temperature (celcius).

Launch Information

Make sure that a BNO055 is plugged in to the raspberry pi's I2C interface and that the BNO055 has an address of 0x28 using sudo i2cdetect -y 1. Launch using <node type="bno055_ros.py" pkg="bno055" name="bno055_node"/> in a launch file or using rosrun bno055 bno055_ros.py.

Troubleshooting

If the custom bno55_info message info can not be read make sure to source devel/setup.bash If a an input/output error occurs make sure the I2C bus is operational and the sensor is properly connected:

  • sudo rapi-config to turn the bus on
  • sudo i2cdetect -y 1 to make sure that the bus is operational and that the BNO055 has an address of 0x28

Contributors

  • Current maintainer: Michael Equi

  • Contributors:

    • Michael Equi - initial work

Helpful Resources