hiwad-aziz/ros2_mpu9250_driver

A ROS2 driver for an MPU9250 sensor.

MPU9250 Driver for ROS2

This repository contains a ROS2 package that interfaces with an MPU9250 sensor over I2C. The accelerometer and gyroscope are calibrated on node startup (sensor needs to be on a plane with z-axis up and should not be moved during calibration). Calibration can be turned off in the parameters file. The orientation is calculated from accelerometer and magnetometer measurements and is currently unfiltered.

Dependencies

• libi2c-dev

Setup

The number of iterations for calibration can be set up in include/mpu9250driver/mpu9250sensor.h. Following other parameters and default values are listed here and can be changed in params/mpu9250.yaml.

    gyro_range: 0
    accel_range: 0
    dlpf_bandwidth: 2
    gyro_x_offset: 0.0 # [deg/s]
    gyro_y_offset: 0.0 # [deg/s]
    gyro_z_offset: 0.0 # [deg/s]
    accel_x_offset: 0.0 # [m/s²]
    accel_y_offset: 0.0 # [m/s²]
    accel_z_offset: 0.0 # [m/s²]
    frequency: 100 # [Hz]

Build the package in your workspace:

colcon build --packages-select mpu9250driver

Source setup.bash in your workspace:

. install/setup.bash

Launch it:

ros2 launch mpu9250driver mpu9250driver_launch.py

Disclaimer

The project is still in work in progress state. I will spend some time every now and then when I'm free. Please don't expect everything to work flawlessly. Feel free to create a pull request if you want to contribute or fix bugs.

ros2_mpu9250_driver's Issues

Remote I/O error

after i successfully installed all dependencies and launched this it gave me an error like this:
Note: I am using MPU 9250 and ROS2 (humble) + raspi-4

aiot@ubuntu:~$ ros2 launch mpu9250driver mpu9250driver_launch.py
[INFO] [launch]: All log files can be found below /home/aiot/.ros/log/2024-01-30-16-55-53-821800-ubuntu-10632
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [mpu9250driver-1]: process started with pid [10633]
[mpu9250driver-1] /dev/i2c-1
[mpu9250driver-1] [INFO] [1706601354.580129782] [mpu9250driver_node]: Calibrating...
[mpu9250driver-1] Accelerometer Range: +-2g
[mpu9250driver-1] Gyroscope Range: +-250 degree per sec
[mpu9250driver-1] DLPF Range: 94 Hz
[mpu9250driver-1] Accelerometer Offsets: x: 1.29235, y: -4.95298, z: -0.483442
[mpu9250driver-1] Gyroscope Offsets: x: 1.82969, y: -0.970473, z: 0.274786
[mpu9250driver-1] Error! Errno: Remote I/O error
[mpu9250driver-1] Error! Errno: Remote I/O error
[mpu9250driver-1] Error! Errno: Remote I/O error
[mpu9250driver-1] Error! Errno: Remote I/O error
[mpu9250driver-1] Error! Errno: Remote I/O error
[mpu9250driver-1] Error! Errno: Remote I/O error
[mpu9250driver-1] Error! Errno: Remote I/O error

message frequency

Hi. I am unable to change IMU message frequency. I've tried to update frequency from config file, also I've updated the wall timer from src. But frequency is around 160 Hz and does not change

Licensing

Hello!

First of all thanks for the great work on this driver!
I had a question regarding this project's licensing. I wanted to include your driver in one of my uni's projects and I noticed you didnt inlcude any license but the repo is public.
According to this:
https://docs.github.com/en/repositories/managing-your-repositorys-settings-and-features/customizing-your-repository/licensing-a-repository
"no one may reproduce, distribute, or create derivative works" if there is no license. So would you be interested to update your repo in the coming future in order for more people to be able to use your code?

No such device or address