flynneva/bno055

ROS2 driver for Bosch BNO055 using UART or I2C

Evan Flynn

Michigan State University Alumn

Robotics | Sensor Fusion | CNCs | Speakers | Woodworking

bno055's Issues

Unable to use bno055_params_i2c_yaml params file

Using i2c connection to bno055: After colcon build & source . install/setup.bash, execution error

ubuntu@rp4-ub22h-mt:/bno055_ws$ ros2 launch bno055 bno055.launch.py config:=bno055_params_i2c.yaml
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2024-04-09-20-10-01-391230-rp4-ub22h-mt-4494
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [bno055-1]: process started with pid [4495]
[bno055-1] Traceback (most recent call last):
[bno055-1] File "/home/ubuntu/bno055_ws/install/bno055/lib/bno055/bno055", line 33, in
.
.
[bno055-1] File "/home/ubuntu/bno055_ws/build/bno055/bno055/connectors/uart.py", line 33, in
[bno055-1] import serial
[bno055-1] ModuleNotFoundError: No module named 'serial'
[ERROR] [bno055-1]: process has died [pid 4495, exit code 1, cmd '/home/ubuntu/bno055_ws/install/bno055/lib/bno055/bno055 --ros-args --params-file /home/ubuntu/bno055_ws/install/bno055/share/bno055/config/bno055_params.yaml'].
ubuntu@rp4-ub22h-mt:/bno055_ws$

Seems config i2c parameter file is ignored and the default serial params yaml is used.

Testing I2C connection on Raspberry Pi 3B

Thanks for implementing I2C!
While testing it - here are the issues.

1. Build and run sequence - RPi 3b, Ubuntu 22.04 Server 64 bit, ROS2 Humble installed via apt/binaries
   "i2cdetect -y 1" shows address 0x28

mkdir -p ~/bno055_ws/src
cd ~/bno055_ws/src/
git clone https://github.com/flynneva/bno055.git
cd ..
colcon build
vi ~/bno055_ws/src/bno055/bno055/params/bno055_params_i2c.yaml - change i2c_bus to 1. Use i2cdetect -y 1
sudo pip3 install smbus

source ~/bno055_ws/install/setup.bash
ros2 run bno055 bno055 --ros-args --params-file ~/bno055_ws/src/bno055/bno055/params/bno055_params_i2c.yaml

Issues:

1. Immediately the node crashes - not able to find parameters "i2c_bus" and "i2c_addr":

[INFO] [1673704231.527974952] [bno055]: Initializing parameters
[INFO] [1673704231.595604396] [bno055]: Parameters set to:
[INFO] [1673704231.600864898] [bno055]: ros_topic_prefix: "bno055/"
[INFO] [1673704231.605883787] [bno055]: connection_type: "i2c"
[INFO] [1673704231.611069341] [bno055]: frame_id: "bno055"
[INFO] [1673704231.615995938] [bno055]: data_query_frequency: "100"
[INFO] [1673704231.620986284] [bno055]: calib_status_frequency: "0.1"
[INFO] [1673704231.625980225] [bno055]: operation_mode: "12"
[INFO] [1673704231.630957863] [bno055]: placement_axis_remap: "P2"
[INFO] [1673704231.635912116] [bno055]: acc_factor: "100.0"
[INFO] [1673704231.641059389] [bno055]: mag_factor: "16000000.0"
[INFO] [1673704231.646096194] [bno055]: gyr_factor: "900.0"
[INFO] [1673704231.651560445] [bno055]: set_offsets: "False"
[INFO] [1673704231.656551052] [bno055]: offset_acc: "[65516, 165, 65512]"
[INFO] [1673704231.661637753] [bno055]: radius_acc: "1000"
[INFO] [1673704231.666519402] [bno055]: offset_mag: "[65460, 65182, 637]"
[INFO] [1673704231.671388499] [bno055]: radius_mag: "0"
[INFO] [1673704231.676251398] [bno055]: offset_gyr: "[2, 65535, 65535]"
[INFO] [1673704231.681657785] [bno055]: variance_acc: "[0.017, 0.017, 0.017]"
[INFO] [1673704231.686587142] [bno055]: variance_angular_vel: "[0.04, 0.04, 0.04]"
[INFO] [1673704231.691538791] [bno055]: variance_orientation: "[0.0159, 0.0159, 0.0159]"
[INFO] [1673704231.696669450] [bno055]: variance_mag: "[0.0, 0.0, 0.0]"
[INFO] [1673704231.702505471] [bno055]: ROS node shutdown
[INFO] [1673704231.707485557] [bno055]: No timers to shutdown
Traceback (most recent call last):
File "/home/ros/bno055_ws/install/bno055/lib/bno055/bno055", line 33, in
sys.exit(load_entry_point('bno055===0.4.0.', 'console_scripts', 'bno055')())
File "/home/ros/bno055_ws/install/bno055/lib/python3.10/site-packages/bno055/bno055.py", line 94, in main
node.setup()
File "/home/ros/bno055_ws/install/bno055/lib/python3.10/site-packages/bno055/bno055.py", line 70, in setup
self.param.i2c_bus.value,
AttributeError: 'NodeParameters' object has no attribute 'i2c_bus'
[ros2run]: Process exited with failure 1

========= OK, at this point I just edited "src/bno055/bno055/bno055.py" to see if it will work at all:
elif self.param.connection_type.value == I2C.CONNECTIONTYPE_I2C:
connector = I2C(self,
1,
0x28)
else:

2. It worked, and produces valid data in topics (or, at least in rqt there are values coming at 70Hz and calibration status makes sense). But there's a division by zero somewhere:

ros@turtle:~/bno055_ws$ ros2 run bno055 bno055 --ros-args --params-file ~/bno055_ws/src/bno055/bno055/params/bno055_params_i2c.yaml
[INFO] [1673705369.207049590] [bno055]: Initializing parameters
[INFO] [1673705369.276023821] [bno055]: Parameters set to:
[INFO] [1673705369.280943023] [bno055]: ros_topic_prefix: "bno055/"
[INFO] [1673705369.286472482] [bno055]: connection_type: "i2c"
[INFO] [1673705369.292932198] [bno055]: frame_id: "bno055"
[INFO] [1673705369.302135290] [bno055]: data_query_frequency: "100"
[INFO] [1673705369.308729381] [bno055]: calib_status_frequency: "0.1"
[INFO] [1673705369.314610350] [bno055]: operation_mode: "12"
[INFO] [1673705369.320466214] [bno055]: placement_axis_remap: "P2"
[INFO] [1673705369.328608372] [bno055]: acc_factor: "100.0"
[INFO] [1673705369.336255116] [bno055]: mag_factor: "16000000.0"
[INFO] [1673705369.341144056] [bno055]: gyr_factor: "900.0"
[INFO] [1673705369.346109664] [bno055]: set_offsets: "False"
[INFO] [1673705369.351926934] [bno055]: offset_acc: "[65516, 165, 65512]"
[INFO] [1673705369.358342120] [bno055]: radius_acc: "1000"
[INFO] [1673705369.363342050] [bno055]: offset_mag: "[65460, 65182, 637]"
[INFO] [1673705369.368165418] [bno055]: radius_mag: "0"
[INFO] [1673705369.373985866] [bno055]: offset_gyr: "[2, 65535, 65535]"
[INFO] [1673705369.381897139] [bno055]: variance_acc: "[0.017, 0.017, 0.017]"
[INFO] [1673705369.389718570] [bno055]: variance_angular_vel: "[0.04, 0.04, 0.04]"
[INFO] [1673705369.396823284] [bno055]: variance_orientation: "[0.0159, 0.0159, 0.0159]"
[INFO] [1673705369.403196854] [bno055]: variance_mag: "[0.0, 0.0, 0.0]"
[INFO] [1673705369.467421364] [bno055]: Configuring device...
[INFO] [1673705369.475430866] [bno055]: Current sensor offsets:
[INFO] [1673705369.485973172] [bno055]: Accel offsets (x y z): 136 40 65371
[INFO] [1673705369.493317729] [bno055]: Accel radius: 33768
[INFO] [1673705369.499668956] [bno055]: Mag offsets (x y z): 128 0 0
[INFO] [1673705369.504602168] [bno055]: Mag radius: 128
[INFO] [1673705369.509957669] [bno055]: Gyro offsets (x y z): 129 1 0
[INFO] [1673705369.514781766] [bno055]: Setting device_mode to 12
[INFO] [1673705369.520585339] [bno055]: Bosch BNO055 IMU configuration complete.
[WARN] [1673705369.550428149] [bno055]: Receiving sensor data failed with ZeroDivisionError:"float division by zero"
[WARN] [1673705369.571708020] [bno055]: Receiving sensor data failed with ZeroDivisionError:"float division by zero"
[WARN] [1673705369.593917524] [bno055]: Receiving sensor data failed with ZeroDivisionError:"float division by zero"

Hope this helps.

I2c permission error

Distro : ROS2 humble
Development board : Rasberry pi 4 b

Please someone help

trouble connecting to the bno055

plugged into a bno055 hitlego cp2104 into USB to uart converter into the USB port into a USB device.

/dev/ttyUSB0 does exist but i needed to delete brltty

I get the error message on both that the device is not connected even when 5volts are going through the device it is also cool at this time with about 1.5v being dropped after passing through the device.

Usage of dash-seperated script-dir and install-scripts

Starting >>> bno055
/home/ubuntu/.local/lib/python3.8/site-packages/setuptools/dist.py:717: UserWarning: Usage of dash-separated 'script-dir' will not be supported in future versions. Please use the underscore name 'script_dir' instead
  warnings.warn(
/home/ubuntu/.local/lib/python3.8/site-packages/setuptools/dist.py:717: UserWarning: Usage of dash-separated 'install-scripts' will not be supported in future versions. Please use the underscore name 'install_scripts' instead

I believe setup.cfg should us underscores

[develop]
script_dir=$base/lib/bno055
[install]
install_scripts=$base/lib/bno055

I2c connection

Thank you for your work.
Are you planning to make it work using i2c connection?

Could not import 'rosidl_typesupport_c' for package 'example_interfaces'

Hey,

given the following structure on my Raspberry Pi 4b running Ubuntu 20.04 Server

myworkspace
└── install
└── log
└── build
└── src
    └── bno055

and

cd $myworkspace
source /opt/ros/foxy/setup.bash
colcon build --packages-select bno055
source install/local_setup.bash
ros2 run bno055 bno055 --ros-args --params-file ./src/bno055/bno055/params/bno055_params.yaml

gives me the following error

Traceback (most recent call last):
  File "myworkspace/install/bno055/lib/bno055/bno055", line 11, in <module>
    load_entry_point('bno055==0.3.0', 'console_scripts', 'bno055')()
  File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 490, in load_entry_point
    return get_distribution(dist).load_entry_point(group, name)
  File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 2854, in load_entry_point
    return ep.load()
  File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 2445, in load
    return self.resolve()
  File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 2451, in resolve
    module = __import__(self.module_name, fromlist=['__name__'], level=0)
  File "myworkspace/install/bno055/lib/python3.8/site-packages/bno055/bno055.py", line 37, in <module>
    from bno055.sensor.SensorService import SensorService
  File "myworkspace/install/bno055/lib/python3.8/site-packages/bno055/sensor/SensorService.py", line 43, in <module>
    from example_interfaces.srv import Trigger
ModuleNotFoundError: No module named 'example_interfaces'

Could someone replicate the error? Any advice? example_interfaces is a standard ROS2 package given by the ROS2 developers, e.g. used in their tutorials, too: see Writing A Simple Py Service And Client.

The bno055/package.xml looks fine, including as <exec_depend>example_interfaces</exec_depend>, which I would normally do as <depend>example_interfaces</depend>, but colcon says it's redundant.

Interest in tagging a new release?

Thanks a lot @flynneva for working on this repo! As it passed some time since the last release (0.4.1) and some fixes (such as #59) are not yet released, are you interested in making a new release, also in view of ROS 2 Jazzy?

Thanks a lot in advance!

switch to use poetry for package management

poetry provides some benefits for managing dependencies and could be used to improve this project

Runtime error: module 'bno055.registers' has no attribute 'START_BYTE_WR'

Tried using the module and I'm getting the following error:

[bno055]: Communication error: module 'bno055.registers' has no attribute 'START_BYTE_WR'

Looking at registers.py file it indeed does not contain a declaration for START_BYTE_WR (or READ also used by Connector.py) ?

Seems it got removed here so I'm not sure how it's still supposed to work?

Reverted to an older commit and now it runs but now I'm stuck at Configuring device... but I guess this could be an issue on my end.

[INFO] [1636574878.842770372] [bno055]: Initializing parameters
[INFO] [1636574878.854439565] [bno055]: Parameters set to:
[INFO] [1636574878.856625748] [bno055]:         ros_topic_prefix:       "bno055/"
[INFO] [1636574878.858723302] [bno055]:         connection_type:        "uart"
[INFO] [1636574878.860794226] [bno055]:         uart_port:              "/dev/serial1"
[INFO] [1636574878.862778039] [bno055]:         uart_baudrate:          "115200"
[INFO] [1636574878.864799852] [bno055]:         uart_timeout:           "0.1"
[INFO] [1636574878.866828146] [bno055]:         frame_id:               "imu"
[INFO] [1636574878.868809385] [bno055]:         data_query_frequency:   "100"
[INFO] [1636574878.870805976] [bno055]:         calib_status_frequency: "0.1"
[INFO] [1636574878.872801919] [bno055]:         operation_mode:         "12"
[INFO] [1636574878.874782028] [bno055]:         placement_axis_remap:   "P0"
[INFO] [1636574878.876822175] [bno055]:         acc_offset:             "[65516, 165, 65512]"
[INFO] [1636574878.878812747] [bno055]:         mag_offset:             "[65460, 65182, 637]"
[INFO] [1636574878.880806115] [bno055]:         gyr_offset:             "[2, 65535, 65535]"
[INFO] [1636574878.883295502] [bno055]: Opening serial port: "/dev/serial1"...
[INFO] [1636574878.905222001] [bno055]: Configuring device...

Add basic unit tests

• Add some basic unit tests

No covariances in output message

Thanks for your great contribution with an updated ROS2 driver.
Unfortunately it seems the output topic does not contain valid covariance values?
This makes merging this imu's data in a robot_localization node impossible...

Would it be possible to add this?

Investigate using pydantic for classes

See if switching to pydantic for some of the classes could help us at all. Maybe use some validators as well

add I2C locking

There is no locking in I2C implementation. It is an issue if there are several I2C devices and parallel processes. Every I2C read operation contains two independent syscalls. I suggest calling "fcntl.flock". Unfortunately, SMBus package does not provide direct access to I2C file descriptor. Can we use SMBus2 package?

[feature] add full I2C support

add full support to the i2c class. @whatis777's contributions have set us up nicely for this...just need to implement now I think.

looks like someone wrote a cpp ros1 package that already does this...should be able to learn from a lot of the logic:

https://discourse.ros.org/t/new-bno055-i2c-driver-for-ros/7940

I2C connection errors

Hello,

I have been having trouble connecting to I2C with the bno055 using a raspberry pi 4 with ubuntu 22.04 on it. Attached is the outputted error.

[enhancement] migrate to using composition

we should probably move towards a composable node rather than the current structure.

read more here:
https://index.ros.org/doc/ros2/Tutorials/Composition/

Error orientation_covariance must be float array [9]

running the sensor on ros2-foxy i got this error for all covariance fields:

Receiving sensor data failed with AssertionError:"The 'orientation_covariance' field must be a set or sequence with length 9 and each value of type 'float'"

# TODO: make this an option to publish? imu_raw_msg.orientation_covariance = [ self.param.variance_orientation, 0 , 0, 0, self.param.variance_orientation, 0, 0, 0, self.param.variance_orientation ]

this must be corrected to for all variance msgs:

xx = self.param.variance_orientation.value[0] # struct.unpack('!f', bytes.fromhex(str(self.param.variance_orientation)))[0] yy = self.param.variance_orientation.value[1] # struct.unpack('!f', bytes.fromhex(str(self.param.variance_orientation)))[0] zz = self.param.variance_orientation.value[0] # struct.unpack('!f', bytes.fromhex(str(self.param.variance_orientation)))[0] imu_raw_msg.orientation_covariance = [ xx, 0.0 , 0.0, 0.0, yy, 0.0, 0.0, 0.0, zz ]

call calibration

Hello! I have tried to calibrate my bno055 device, but the system is always wait for service, also I didn't see the srv folder in the repo, is that in another package? Thx.

[bug] Units break REP103 and are not consistent

We tried a view BNO055 driver for ROS2 and found a bug in all of them. To adhere to REP 103 the messages have to use SI units.

In this package there are two problems:

1. The acceleration factor is 1000 where it has to be 100
2. The magnetometer unit is in μT and not T the factor hast to be 16000000 and not 16

The Bug

The linear_acceleration scale factor is set to 1000, but has to be 100.
From the BNO055 Data Sheet:

• 3.6.1 Unit selection - Table 3-17: Accelerometer Unit settings:

Unit	Representation
m/s²	1 m/s² = 100 LSB
mg	1 mg = 1 LSB

• 3.6.1 Unit selection - Table 3-19: Magnetometer Unit settings:

Unit	Representation
μT	1 μT = 16 LSB

Info

In the end, we decided to use the ros2_bno055_driver from RoverRobotics-archive, because we only have an RPi4 and python is not that performant. Here are our fixes RoverRobotics-archive/ros2_bno055_driver#6. But because this is the upstream repository of ros-foxy-bno055, it would be beneficial for other to fix it here as well.

calibration offsets not actually used

calibration file

Is it possible to retrieve a calibration file and upload it to the IMU every time we start the device again ?

Like in this ros driver section 6

This will generate a calibration file that will be used by the driver.

Thank you !

[feature] add documentation using sphinx

Calibrated Data

Hello Evan, I have successfully cloned this repository and data is being published. I want to use this in LIO-SAM algorithm but before that I need to calibrate it.

So I have calibrated data separately, I want to ask how can I use this data in your code or were can I add that so that whenever I start your code I get calibrated data.
Or can you suggest me any other way for getting calibrated data directly from your algorithm.
Thank you.

operation_mode is hard-coded to NDOF

First of all, many thanks for this repo!

I was trying to set the sensor into IMU mode with the config file, but it was still functioning in absolute mode.
Then I've taken a look at the code and it turns out that setting operation_mode is hard-coded to NDOF.

# Set Device to NDOF mode
# data fusion for gyroscope, acceleration sensor and magnetometer enabled
# absolute orientation
if not (self.con.transmit(registers.BNO055_OPR_MODE_ADDR, 1, bytes([registers.OPERATION_MODE_NDOF]))):
        self.node.get_logger().warn('Unable to set IMU operation mode into operation mode.')

P.S. I could change it myself and send a PR, just let me know.

BNO055 somtimes sends BUS_OVER_RUN_ERROR (0x07) over UART

BNO055 sends back BUS_OVER_RUN_ERROR (0x07) over UART.

This seems to be a known issue when performing regular sensor data queries using UART: https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO55-0x07-error-UART/td-p/14765

Therefor this project is currently logging a regular warning regarding this issue:
[WARN] [1610880440.010281061] [bno055]: Receiving sensor data failed with TransmissionException:"READ-request failed with error code 0x7"

If a project does not depend on a strict cyclic sensor data update, it can just ignore the warning. The data will be there for the next query cycle.

As the severity seems to be very low, should we disable the warning logging to prevent console / log pollution?

Communication error using UART to USB

Hello,

I have bumped into the following issue when trying to connect to the BNO055. I made sure it properly works beforehand by using a small Arduino snippet and it does.

I get the following message when running the node configured with the yaml file.

CP2104 and connections work properly and the tty/USB0 port is properly attached:

I am using Ubuntu 22.04 with ROS2 Humble and all the libraries required to run the driver are installed.

The only parameter changed is the baudrate due to my requirements:

Has anyone bumped into this issue before? Any advice on how to proceed? The response header 0xff does not give me enough information to deal with it.

orientation quaternion is not normalized

Hello,

I see that the orientation quaternion output of imu is not normalized : it looks like there is a factor 2**14 applied.

output of ros2 topic echo /bno055/imu:

header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: bno055
orientation:
  x: 535.0
  y: -275.0
  z: 4725.0
  w: -15676.0
orientation_covariance:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
angular_velocity:
  x: -0.07777777777777778
  y: -0.027777777777777776
  z: -0.2688888888888889
angular_velocity_covariance:
- -1.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
linear_acceleration:
  x: 0.061
  y: -0.059
  z: -0.03
linear_acceleration_covariance:
- -1.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0

Is that normal?
Doesn't it cause problem when using with other ROS2 nodes ?

Thank you !