bno055_ros2_python

the bno055 IMU ROS2 driver in Python

Requirement

the adafruit-circuitpython-bno055 package is needed

pip install adafruit-circuitpython-bno055

how to build

colcon build --packages-select bno055_driver
source install/setup.bash
ros2 run bno055_driver bno055_node

you will need to run the below to make rviz2 work

'''bash ros2 run tf2_ros static_transform_publisher args='0 0 0 0 0 0 1 base_link imu_link' '''

how to run

The full_launch.py will launch the rivz2 automatically

ros2 launch bno055_driver full_launch.py

package

bno055_driver/
├── bno055_driver/
│   ├── __init__.py
│   └── bno055_node.py
├── launch/
│   ├── bno055_launch.py
│   └── full_launch.py
├── rviz/
│   └── bno055_visualization.rviz
├── config/
│   └── bno055_params.yaml
├── package.xml
├── setup.py
├── setup.cfg
├── resource/
│   └── bno055_driver
└── test/
    └── test_bno055_driver.py

to make the python driver work in the venv under docker

add the below lines to setup.cfg

[build_scripts]
executable = /usr/bin/env python3