Introduction

This is a ROS package for publishing Adafruit LSM9DS1 9DOF IMU data on Jetson Nano using i2c. It is tested on Python 3.6 using the Adafruit LSM9DS1 Library. The code for reading the data is derived from https://github.com/adafruit/Adafruit_CircuitPython_LSM9DS1/blob/master/examples/lsm9ds1_simpletest.py

Usage

1. Wire up the sensor according to the datasheet at https://cdn-learn.adafruit.com/downloads/pdf/adafruit-lsm9ds1-accelerometer-plus-gyro-plus-magnetometer-9-dof-breakout.pdf?timestamp=1583324342

2. Connect the SDA and SCL port to i2c Bus 0:

   SDA - Pin 27

   SCL - Pin 28

Dependencies

1. Install adafruitblinka

$ pip3 install adafruit-blinka

2. Install Adafruit CircuitPython LSM9ds1 library

$ pip3 install adafruit-circuitpython-lsm9ds1

Installation Instructions - Ubuntu 18.04 with ROS Melodic

Create a catkin workspace and clone lsm9s1_ros_python:

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ git clone https://github.com/OOyindamola/lsm9ds1_ros_python/

Install Catkin dependencies

sudo pip3 install catkin_pkg

Build Workspace with Python 3

$ cd ~/catkin_ws
$ catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3

Note This will configure catkin_make with Python 3. You may then proceed to use just catkin_make for subsequent builds.

Basic Usage

roslaunch lsm9ds1_ros_python imu_publisher.launch

References

1. Adafruit CircuitPython Library - https://github.com/adafruit/Adafruit_CircuitPython_LSM9DS1
2. Configuring ROS Environment with Python 3 - http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment