This is a light weight, C++ ROS node for the BNO055 IMU that communicates via I2C and without any dependencies besides libi2c-dev. It does not require RTIMULib, RTIMULib2, RTIMULib3 or whatever the latest sequel is. It is specifically targeted at using a BNO055 with NVIDIA Jetson (Xavier, Orin, etc.) platforms but should work with a Raspberry Pi 5 as well.
The BNO055 supports I2C and UART communication. This driver supports I2C only. If you are looking for a UART driver, see this driver by mdrwiega instead.
Just copy the appropriate CMakeLists file:
cp CMakeLists.ros1.txt CMakeLists.txt # for ROS1
cp CMakeLists.ros2.txt CMakeLists.txt # for ROS2
and then you are ready to drop this package into a catkin (ROS1) or colcon (ROS2) workspace.
rosrun imu_bno055 bno055_i2c_node # for ROS1
ros2 run imu_bno055 bno055_i2c_node # for ROS2
- device -- the path to the i2c device. Default is /dev/i2c-1. Use i2cdetect in the i2c-tools package to find out which bus your IMU is on.
- address -- the i2c address of the IMU. Default is 0x28.
- /data (sensor_msgs/Imu) -- fused IMU data
- /raw (sensor_msgs/Imu) -- raw accelerometer data
- /mag (sensor_msgs/MagneticField) -- raw magnetic field data
- /temp (sensor_msgs/Temperature) -- temperature data
- /status (diagnostic_msgs/DiagnosticStatus) -- a DiagnosticStatus object showing the current calibration, interrupt, system status of the IMU
- /reset (std_srvs/Trigger) -- resets the IMU
- /calibrate (std_srvs/Trigger) -- not yet implemented
The Raspberry Pi <=4 hardware I2C does not support clock stretching. You have a few options:
- Upgrade to Raspberry Pi 5
- Use software I2C instead which supports clock stretching but will increase CPU usage slightly.
- Slow down the I2C clock drastically, since the Pi does not support clock stretching. I have not tested this method.
You may need to add your user to the i2c group, e.g. sudo usermod -aG i2c nvidia. It should just work after that.