ros_mpu6050_calibration for Raspberry Pi

ROS package for mpu6050_calibration and test Requires a Raspeberry PI 2, 3 or 4

This package was based in the following works:

The ROS package ros_mpu6050_node - https://github.com/chrisspen/ros_mpu6050_node
MPU-6050 calibration sketch, by Luis Ródenas, originally posted here: https://www.i2cdevlib.com/forums/topic/96-arduino-sketch-to-automatically-calculate-mpu6050-offsets/

Depends on the following software:

• I2Cdevlib
• bcm2835

Install I2Cdevlib (chrisspen fork recomended):

sudo mkdir -p /usr/share/arduino/libraries
cd /usr/share/arduino/libraries
sudo git clone https://github.com/chrisspen/i2cdevlib.git

Install Bcm2835:

cd /tmp
wget http://www.airspayce.com/mikem/bcm2835/bcm2835-1.50.tar.gz
tar zxvf bcm2835-1.50.tar.gz
cd bcm2835-1.50
./configure
make
sudo make check
sudo make install

download and make the ros package

cd ~/catkin_ws/src
git clone https://github.com/inaciose/ros_mpu6050_calibration
cd ..
catkin_make

Must be run as root.

For mpu6050 calibration run:
sudo bash -c "source /opt/ros/kinetic/setup.bash; source /home/ubuntu/catkin_ws/devel/setup.bash; roslaunch ros_mpu6050_calibration mpucal.launch"

For mpu6050 test node run:
sudo bash -c "source /opt/ros/kinetic/setup.bash; source /home/ubuntu/catkin_ws/devel/setup.bash; roslaunch ros_mpu6050_calibration mpu.launch"

For Arduino based mpu6050 calibration

https://github.com/melikabarzegaran/mpu6050-raw-calibration
https://codebender.cc/sketch:97892#MPU6050%20calibration.ino