https://github.com/flynneva/bno055
ROS2 driver for Bosch BNO055 using UART or I2C
https://github.com/flynneva/bno055
bno055 i2c imu ros2 ros2-driver sensor-msgs uart-communication
Last synced: 2 months ago
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ROS2 driver for Bosch BNO055 using UART or I2C
- Host: GitHub
- URL: https://github.com/flynneva/bno055
- Owner: flynneva
- License: bsd-3-clause
- Created: 2019-08-05T00:36:12.000Z (almost 6 years ago)
- Default Branch: main
- Last Pushed: 2024-02-17T17:15:08.000Z (over 1 year ago)
- Last Synced: 2024-06-20T09:27:51.688Z (12 months ago)
- Topics: bno055, i2c, imu, ros2, ros2-driver, sensor-msgs, uart-communication
- Language: Python
- Homepage: https://flynneva.github.io/bno055/
- Size: 726 KB
- Stars: 78
- Watchers: 7
- Forks: 45
- Open Issues: 12
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.rst
- Contributing: CONTRIBUTING.md
- License: LICENSE
- Authors: AUTHORS
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README
# A BNO05 ROS2 Package
## Description
A ROS2 driver for the sensor IMU Bosch BNO055.
This repo was based off of [Michael Drwiega's work on the Bosch IMU Driver for ROS 1](https://github.com/mdrwiega/bosch_imu_driver)
---
## Wiring Guide
### Selecting Connection Type
The default mode is I2C.
To select UART mode connect the `3.3V` pin to the `PS1` pin.
### CP2104 USB-to-UART Bridge
When using a CP2104 USB-to-UART Bridge:
| BNO055 | CP2104 Friend |
| ------ | ---------------- |
| Vin | 5V |
| GND | GND |
| SDA | RXD |
| SCL | TXD |
**NOTE: on the CP2104 the pins above refer to the FTDI pins at the opposite end from the USB connector
---
## ROS Node Parameters
To configure with your own settings please adjust the [node parameter file](bno055/params/bno055_params.yaml) and pass it
as an argument when starting the node:
```
ros2 run bno055 bno055 --ros-args --params-file ./src/bno055/bno055/params/bno055_params.yaml
```
### UART Connection
- **connection_type=uart**: Defines UART as sensor connection type; default='uart'
- **uart_port**: The UART port to use; default='/dev/ttyUSB0'
- **uart_baudrate**: The baud rate to use; default=115200
- **uart_timeout**: The timeout for UART transmissions in seconds to use; default=0.1
### I2C Connection
- **connection_type=i2c**: Defines I2C as sensor connection type; default='uart'
- **i2c_bus**: The integer I2C bus number to use; default=0
- **i2c_address**: The hexadecimal I2C address to use; default=0x28
### Sensor Configuration
- **frame_id**: coordinate frame id of sensor default='bno055'
- **baudrate**: baudrate of sensor default=115200
- **data_query_frequency**: frequency (HZ) to read and publish data from sensor; default=100 Hz
- **calib_status_frequency**: frequency (HZ) to read and publish calibration status data from sensor; default=0.1 Hz
- **placement_axis_remap**: The sensor placement configuration (Axis remapping) defines the position and orientation of the sensor mount.
See Bosch BNO055 datasheet section "Axis Remap" for valid positions: "P0", "P1" (default), "P2", "P3", "P4", "P5", "P6", "P7".
### ROS Topic Prefix
- **ros_topic_prefix**: ROS topic prefix to be used. Will be prepended to the default topic names (see below). Default="bno055/"
### Calibration
The current calibration values can be requested via the **calibration_request** service (this puts the imu into **CONFIGMODE** for a short time):
```
ros2 service call /bno055/calibration_request example_interfaces/srv/Trigger
```
---
## ROS Topics
ROS topics published by this ROS2 Node:
- **bno055/imu** [(sensor_msgs/Imu)](http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html)
- **bno055/imu_raw** [(sensor_msgs/Imu)](http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html)
- **bno055/temp** [(sensor_msgs/Temperature)](http://docs.ros.org/api/sensor_msgs/html/msg/Temperature.html); The sensor's ambient temperature
- **bno055/mag** [(sensor_msgs/MagneticField)](http://docs.ros.org/api/sensor_msgs/html/msg/MagneticField.html)
- **bno055/grav** [(geometry_msgs/Vector3)](http://docs.ros.org/en/api/geometry_msgs/html/msg/Vector3.html)
- **bno055/calib_status** [(std_msgs/String)](http://docs.ros.org/en/api/std_msgs/html/msg/String.html) :
Sensor Calibration Status as JSON string - e.g. `{"sys": 3, "gyro": 3, "accel": 0, "mag": 3}`
While _bno055_ is the default ROS topic prefix, it can be configured by following the directions above.
---
## Development Workspace Setup
### On a Remote Device
Setup of a ROS2 workspace & IDE for a remote device (for example Raspberry Pi):
#### Clone & Build
Create a ROS2 [workspace](https://index.ros.org/doc/ros2/Tutorials/Workspace/Creating-A-Workspace/) on your remote device - for instance `~/ros2_ws`
Make sure you sourced your ROS2 installation (underlay).
Then clone the project into your workspace's src directory:
cd ~/ros2_ws/src
git clone https://github.com/flynneva/bno055.git
Perform a build of your workspace
cd ~/ros2_ws
colcon build
#### Integrate in your IDE
In order to work with the sources in your remote workspace and to integrate them in your IDE, use `sshfs`:
sudo apt-get install sshfs
sudo modprobe fuse
Create a IDE project directory and mount the remote ROS2 workspace:
mkdir -p ~/projects/bno055/ros2_ws
sshfs [email protected]:~/ros2_ws ~/projects/bno055/ros2_ws
Create a new project in your IDE from existing sources in `~/projects/bno055/ros2_ws`.
You can now manipulate the remote ROS2 workspace using your local IDE (including git operations).
### Running the ROS2 node
Run the `bno055` ROS2 node with default parameters:
# source your local workspace (overlay) in addition to the ROS2 sourcing (underlay):
source ~/ros2_ws/install/setup.sh
# run the node:
ros2 run bno055 bno055
Run with customized parameter file:
ros2 run bno055 bno055 --ros-args --params-file ./src/bno055/bno055/params/bno055_params.yaml
Run launch file:
ros2 launch bno055 bno055.launch.py
### Performing flake8 Linting
To perform code linting with [flake8](https://gitlab.com/pycqa/flake8), just perform:
cd ~/ros2_ws/src/bno055
ament_flake8
See [www.flake8rules.com](https://www.flake8rules.com/) for more detailed information about flake8 rules.
**Note:** We take advantage of [flake8's noqa mechanisim](https://flake8.pycqa.org/en/3.1.1/user/ignoring-errors.html) to selectively ignore some errors. Just search for `# noqa:` in the source code to find them.