ros_bno055

A ROS node for communicating with the bno055 9DOF IMU.

Description

The node communicates with the BNO08x via i2c on the Raspberry Pi using Adafruit's Python library: https://github.com/adafruit/Adafruit_CircuitPython_BNO055. The i2c address is preset to 0x28. The data is stored in the following:

• Accelerometer and Gyroscope (sensor_msgs/Imu): bno055/raw
• Magnometer (sensor_msgs/MagneticField): bno055/mag
• Temperature (sensor_msgs/Temperature): bno055/temp
• Diagnostics (diagnostic_msgs/DiagnosticStatus): bno055/status

Installation Instructions

• Enable i2c

  sudo apt-get install i2c-tools
  i2cdetect -l
  

• Add i2c-devl to boot with sudo nano /etc/modules-load.d/modules.conf
• Install wiringpi sudo apt install wiringpi
• Connect i2c devices to Sparkfun Qwiic hat and run i2cdetect -y 1 to identify channels
• Install Circuit Python: https://learn.adafruit.com/circuitpython-on-raspberrypi-linux/installing-circuitpython-on-raspberry-pi
• Install driver for bno055 IMU: sudo pip3 install adafruit-circuitpython-bno055.

Running the Node

• Option 1: rosrun ros_bno055 talker.py
• Option 2: roslaunch launches/bno055.launch

Tested Setup

It should work on other versions but Python 3 is a requirement.

• Platform: Raspberry Pi 4
• OS: Ubuntu MATE 20.04
• ROS: Noetic
• Python: 3.8.5