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

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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

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ROS Node Parameters

To configure with your own settings please adjust the node parameter file 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

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ROS Topics

ROS topics published by this ROS2 Node:

• bno055/imu (sensor_msgs/Imu)
• bno055/imu_raw (sensor_msgs/Imu)
• bno055/temp (sensor_msgs/Temperature); The sensor's ambient temperature
• bno055/mag (sensor_msgs/MagneticField)
• bno055/grav (geometry_msgs/Vector3)
• bno055/calib_status (std_msgs/String) : 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.

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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 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, just perform:

cd ~/ros2_ws/src/bno055
ament_flake8

See www.flake8rules.com for more detailed information about flake8 rules.

Note: We take advantage of flake8's noqa mechanisim to selectively ignore some errors. Just search for # noqa: in the source code to find them.