ros2_berrygps

Ros2 package for the BerryGPS hat

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Hardware Info

OZZMAKER DOCS

BerryGPS-IMUv3

LSM9DS1 - Magnetometer, accelerometer and gyroscope datasheet can be found here. BM280 - Pressure sensor datasheet can be found here.

GPS related Datasheets CAM-M8-FW3_DataSheet_(UBX-15031574) CAM-M8-FW3_HardwareIntegrationManual_(UBX-15030063)

BerryGPS-IMU I2C Addresses

BerryGPS-IMUv3

• 0x6A for the gyroscope and accelerometer
• 0x1C for the magnetometer
• 0x77 for the pressure sensor

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ROS2 Package Info

Dependencies

• RTIMULib (c++ and python) found here

Setup

for now, RTIMULib should be installed via the instructions of the readme located: Linux/python note:: python3 should be used this is required due to the fact that this repo has added the BMP280 that the v3 of the BerryGPS has.

• change any setttings in the config.yaml and if need be
• the RTIMULib.ini file should be fine minus the need to calibrate the magnitometer

Calibration

See this Link for details

using RTIMULibCal:

• run the tool
• move the device around
• save .ini file

Usage

can use the launch file ros2 launch ros2_berrygps berrygps.launch.py

or run a the node directly ros2 run ros2_berrygps berrygps_node

TODO

• change to c++ instead of python