bno080_micro_ros

ROS2 driver for BNO080 interfaced with a microROS compatible micro-controller. The IMU data is acquired using this Sparkfun Library

1. Installation

1.1 Install the ROS2 driver and its dependencies:

cd <your_ws>
git clone https://github.com/grassjelly/bno080_micro_ros src/bno080_micro_ros
rosdep install --from-paths src -i -r -y
colcon build

2. Installing the firmware

2.1 Install PlatformIO (only have to do once)

python3 -c "$(curl -fsSL https://raw.githubusercontent.com/platformio/platformio/master/scripts/get-platformio.py)"
echo "PATH=\"\$PATH:\$HOME/.platformio/penv/bin\"" >> $HOME/.bashrc
source $HOME/.bashrc

2.2 Install the firmware to the Atom Matrix

cd bno080_micro_ros/firmware
pio run --target upload

3. Running the driver

3.1 Run the launch file to run the microROS agent:

ros2 launch bno080_micro_ros imu.launch

Optional arguments

rviz – If you want to run rviz and visualize the filter’s estimated pose. For example:

ros2 Launch bno080_micro_ros imu.launch rviz:=true

GitHub

View Github