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

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:

**NOTE: on the CP2104 the pins above refer to the FTDI pins at the opposite end from the USB connector

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

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.

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).

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Changelog for package bno055

0.5.0 (2024-02-17)

• Bump to 0.5.0 to prep for release
• Added Gravity publisher (#64)
  • Added Gravity publisher
  • Updated Readme to introduce Gravity publisher
• Spelling/Grammar (#62)
• Fix uart write answer reading (#57)
• Update package.xml to include smbus dependency (#58)
• fix build error on foxy that caused by typo (#59)
• Contributors: Andrew Symington, Burak Guler, Combinatrix, Evan Flynn, Vintheruler1, emilnovak

0.4.1 (2023-01-15)

• Update CHANGELOG
• Bump patch version after small bug fix
• Fix i2c issues found (param and division by zero) (#56)

0.4.0 (2023-01-13)

• Bump version for new release
• Update CHANGELOG for new release
• Improve the doc strings for the connectors
• Add I2C implementation (#52)
• Merge pull request #50 from flynneva/fix-invalid-log-print Fix invalid log string variable expansion
• Update CI to include Humble
• Fix invalid log string variable expansion
• Merge pull request #49 from sjev/operation_mode
• add device mode setting
• Contributors: Andrew Symington, Evan Flynn, Jev

0.3.0 (2022-03-22)

• Merge pull request #43 from flynneva/develop bring over updates
• Merge pull request #44 from Towflos/develop
• fixed setting of calibration data, added default values for mag and acc radius
• added example_interfaces to package.xml, added service information to README.md
• cleanup
• prefix added to service
• removed seq, fixed parameters, refactored reading of calibratio data, added service to request calibration data
• added seq and time to message headers
• mag_radius and accel_radius added to get_calib_offsets()
• mag radius and acc radius added as parameter
• fix greetings for incoming PRs from forks see [this nice write up](https://github.com/SalesforceLabs/LightningWebChartJS/pull/95) for details
• Merge pull request #42 from deepinbubblegum/launch_develop Launch develop
• edit readme launch file
• add launch file
• Merge pull request #41 from flynneva/develop bring over 0.2.0 updates to main
• Merge pull request #32 from flynneva/develop initial docs up and running
• Merge pull request #31 from flynneva/develop source galactic not rolling
• Merge pull request #30 from flynneva/develop dont use forked repo for setup-ros
• Merge pull request #29 from flynneva/develop fix setup-ros version to 0.2
• Contributors: Evan Flynn, Florian Herrmann, deepinbubblegum

0.2.0 (2021-12-6)

• Merge pull request #36 from flynneva/feature/add-covariance [33] add default covariance values, make them configurable
• fix printout for parameters
• [33] add defaults for magnetic field covariance values
• [37] add logic to set offsets
• [33] add default covariance values, make them configurable

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