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bno055_usb_stick

A ROS driver of Bosch BNO055 USB Stick

Device

Bosch BNO055 USB Stick http://www.mouser.jp/new/bosch/bosch-bno055-usb-stick/

Dependencies

bno055_usb_stick_msgs https://github.com/yoshito-n-students/bno055_usb_stick_msgs

Published Topics

output (bno055_usb_stick_msgs/Output)

imu (sensor_msgs/Imu)

pose (geometry_msgs/PoseStamped)

  • associated with the fixed frame

magnetic_field (sensor_msgs/MagneticField)

temperature (sensor_msgs/Temperature)

Provided tf Transforms

fixed -> bno055

  • never broadcasted unless ~publish_tf is true
  • frame ids can be changed by ~tf_frame_id and ~tf_child_frame_id

Parameters

~port (string, default: "/dev/ttyACM0")

  • path to serial port which your BNO055 USB Stick is connected

~timeout (float, default: 1.0)

  • timeout on serial port communication in seconds

~mode (string, default: "ndof")

  • "nodf": estimate absolute orientation with an accelerometer, gyroscope, and magnetometer
  • "imu": estimate relative orientation with an accelerometer and gyroscope

~frame_id (string, default: "bno055")

  • frame id of messages except pose and tf

~pose_frame_id (string, default: "fixed")

  • frame id of pose messages

~publish_tf (bool, default: false)

  • publish tf messages or not

~tf_frame_id (string, default: "fixed")

  • parent frame id of tf messages

~tf_child_frame_id (string, default: "bno055")

  • child frame id of tf messages

~invert_tf (bool, default: false)

  • invert transfom in tf message or not
  • frame ids in tf message will NOT be swapped

Triggering Parameters. To work with triggering, first make sure pigpiod is running (sudo pigpiod).

~trigger_enable (bool, default: true)

  • enable gpio pulse triggering functionality.

~trigger_divider (int, default: 5)

  • triggering will occur every 100/trigger_divider imu data reads.
  • 1-100

~gpio_num (int, default: 23)

  • gpio trigger out pin.
  • possible values depend on rpi model.

Troubleshooting

[ERROR] []: start: open: Permission denied

  • give permission to the current user by sudo usermod -aG dialout $USER. This command is for ubuntu 16.04 and may vary for other environments.