bno055-i2c-ros2

../../../_images/odrive_ros2_pkg_odrive_ros2.drawio.svg — Figure: bno055_i2c_ros2 node diagram.

Summary

This is a ROS2 node for the BNO055 IMU that communicates via I2C and without any dependencies besides libi2c-dev. It is specifically targeted at using a BNO055 with NVIDIA boards such as the TX1, TX2, Xavier, Nano or any other board that has native I2C.

Parameters

device – the path to the i2c device. Default is /dev/i2c-1. Use i2cdetect in the i2c-tools package to find out which bus your IMU is on.
address – the i2c address of the IMU. Default is 0x28.

Usage

Run:

ros2 run bno055_i2c_ros2 bno055_i2c_ros2

Interfaces

Publishers

Topic	Message type	Description
bno055/data	sensor_msgs/Imu	Fused IMU data.
bno055/raw	sensor_msgs/Imu	Raw accelerometer data.
bno055/mag	sensor_msgs/MagneticField	Raw magnetic field data
bno055/temp	sensor_msgs/Temperature	Temperature data.
bno055/status	diagnostic_msgs/DiagnosticStatus	A DiagnosticStatus object showing the current calibration, interrupt, system status of the IMU.