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 Teensy's UDEV rules:

cd /tmp
wget https://www.pjrc.com/teensy/00-teensy.rules
sudo cp 00-teensy.rules /etc/udev/rules.d/
udevadm control --reload-rules && udevadm trigger

2.3 Install the firmware to the Teensy Board

cd bno080_micro_ros/firmware
pio run --target upload

• You might need to press the reset button on the Teensy if it's the first time you're uploading the firmware or when you get this error Found device but unable to open

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