process1183/ros2_bno055

ROS2 node for the Bosch BNO055 IMU

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