Skip to content

Latest commit

 

History

History
55 lines (41 loc) · 2.07 KB

README.md

File metadata and controls

55 lines (41 loc) · 2.07 KB
Raw

ROS2 BNO055

ROS2 node for the Bosch BNO055 IMU.

Published Topics

Topic Type Description
/bno055/diagnostics diagnostic_msgs/msg/DiagnosticArray Status of sensor calibration, mode, and axis remapping.
/bno055/imu sensor_msgs/msg/Imu Absolute orientation quaternion, angular velocity vector (rad/s), linear acceleration vector (m/s^2)
/bno055/magnetometer sensor_msgs/msg/MagneticField Magnetic field strength vector (uT)
/bno055/temperature sensor_msgs/msg/Temperature Sensor temperature (C)

Parameters

Parameter Type Default Description
interface String i2c BNO055 interface. Can be i2c or uart.
frame_id String imu Frame ID for published sensor data.
axis_remap String P1 Axis remap placement (see section 3.4 of the datasheet). Valid values are: P0, P1, ..., P7
temp_update_rate Float 1.0 How often, in seconds, to publish the temperature. Default is 1 Hz.
imu_update_rate Float 0.1 How often, in seconds, to publish the IMU data. Default is 10 Hz.
mag_update_rate Float 0.1 How often, in seconds, to publish the magnetometer data. Default is 10 Hz.

Usage

  1. Create a ROS2 workspace:

    mkdir -p ~/ws/src && cd ~/ws/src

  2. Clone this repo:

    git clone https://github.com/process1183/ros2_bno055.git

  3. Install required dependencies:

    cd ~/ws
rosdep install --from-paths src -i

  4. Build:

    colcon build

  5. Run:

    . ~/ws/install/setup.bash
ros2 run ros2_bno055 bno055