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