ros2_bno055_sensor

A ROS2 driver for the BNO055 IMU sensor (Bosch Sensortec)

This ROS2 driver communicates with the sensor over I2C and relies only on libi2c-dev.

Building from source

This driver depends on the Bosch Sensortec API, but that is unfortunately C only, so a patch is required to support C linkage with the C++ ROS2 driver.

$ git clone --recurse-submodules https://github.com/bdholt1/ros2_bno055_sensor.git
$ cd ros2_bno055_sensor/thirdparty/BNO055_driver/
$ git apply ../../bno055.h.patch
$ cd ../../../
$ colcon build

Usage

Publish IMU messages using default parameters

$ ros2 run bno055_sensor bno055_sensor_node

Nodes

bno055_sensor_node

Published topics

• /imu/raw - sensor_msgs/Imu

Raw gyro and linear acceleration data

• /imu/data - sensor_msgs/Imu

Fusion data (requires NDOF mode)

• /mag - sensor_msgs/MagneticField

Magnetic field

• temp - sensor_msgs/Temperature

Temperature

Parameters

• device - string

The path to the i2c device (default is /dev/i2c-3)

• address - string

The i2c address of the BNO055 (default is 0x28)

Why another BNO055 driver?

Bosch Sensortec have released a package for communicating with the BNO055. This abstracts away the exact register addresses and communiction details, requiring only that the user supply 3 functions (I2C read, I2c write, and delay). No other ROS drivers make use of this package.

There is already a ROS2 Driver for the BN055 but I2C is not supported, only UART. This driver is C++, ROS2 but doesn't use the Bosch Sensortec package.

Reference ROS1 BNO055 drivers:

• https://github.com/mdrwiega/bosch_imu_driver (UART only)
• https://github.com/dheera/ros-imu-bno055 (I2C only, uses SMBus).
• https://github.com/joeyjyyang/ros_bno055 (I2C only, uses SMBus).

Other drivers: https://github.com/fm4dd/pi-bno055

Usage on Raspberry Pi

You will need user access to the i2c devices. Do this by adding your user to the i2c group sudo usermod -aG i2c ${USER}.

All Raspberry Pi devices have a clock-stretching bug that affects hardware i2c. To resolve this, either slow down the clock or switch to software i2c. Software i2c will increase the CPU utilisation of this driver.

Note that the advice provided is targeted to Rasbian, editing /boot/config.txt as the boot configuration file. This driver is targeted at ROS2 on Ubuntu which uses /boot/firmware/config.txt for the boot configuration file, however it is recommended to use /boot/firmware/usercfg.txt for user config instead.

In summary, to enable software i2c on /dev/i2c-3, add the following line to /boot/firmware/usercfg.txt on the Raspberry Pi and reboot.

dtoverlay=i2c-gpio,bus=3

Test your i2c setup as follows

$ sudo apt install i2c-tools
$ i2cdetect -y 3
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:          -- -- -- -- -- -- -- -- -- -- -- -- -- 
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
20: -- -- -- -- -- -- -- -- 28 -- -- -- -- -- -- -- 
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
70: -- -- -- -- -- -- -- --