ROS2 driver for BNO080 interfaced with a microROS compatible micro-controller. The IMU data is acquired using this Sparkfun Library
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
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
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
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
3.1 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