# bno055

**Repository Path**: ncnynl/bno055

## Basic Information

- **Project Name**: bno055
- **Description**: imu bno055
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-03-08
- **Last Updated**: 2024-05-30

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# A BNO05 ROS2 Package 

## Description
A ROS2 driver for the sensor IMU Bosch BNO055.

This repo was based off of [Michael Drwiega's work on the Bosch IMU Driver for ROS 1](https://github.com/mdrwiega/bosch_imu_driver)

---
## Wiring Guide

### Selecting Connection Type

The default mode is I2C.
To select UART mode connect the `3.3V` pin to the `PS1` pin.

### CP2104 USB-to-UART Bridge

When using a CP2104 USB-to-UART Bridge:

| BNO055 | CP2104 Friend    |
| ------ | ---------------- |
| Vin    |   5V             |
| GND    |   GND            |
| SDA    |   RXD            |
| SCL    |   TXD            |

**NOTE: on the CP2104 the pins above refer to the FTDI pins at the opposite end from the USB connector

---
## ROS Node Parameters

To configure with your own settings please adjust the [node parameter file](bno055/params/bno055_params.yaml) and pass it
as an argument when starting the node:

```
ros2 run bno055 bno055 --ros-args --params-file ./src/bno055/bno055/params/bno055_params.yaml
```

### UART Connection

- **connection_type=uart**: Defines UART as sensor connection type; default='uart'
- **uart_port**: The UART port to use; default='/dev/ttyUSB0'
- **uart_baudrate**: The baud rate to use; default=115200
- **uart_timeout**: The timeout for UART transmissions in seconds to use; default=0.1
  
### Sensor Configuration

- **frame_id**: coordinate frame id of sensor default='bno055'
- **baudrate**: baudrate of sensor default=115200
- **data_query_frequency**: frequency (HZ) to read and publish data from sensor; default=100 Hz
- **calib_status_frequency**: frequency (HZ) to read and publish calibration status data from sensor; default=0.1 Hz
- **placement_axis_remap**: The sensor placement configuration (Axis remapping) defines the position and orientation of the sensor mount.
See Bosch BNO055 datasheet section "Axis Remap" for valid positions: "P0", "P1" (default), "P2", "P3", "P4", "P5", "P6", "P7".   

### ROS Topic Prefix

- **ros_topic_prefix**: ROS topic prefix to be used. Will be prepended to the default topic names (see below). Default="bno055/"

### Calibration

The current calibration values can be requested via the **calibration_request** service (this puts the imu into **CONFIGMODE** for a short time):

```
ros2 service call /bno055/calibration_request example_interfaces/srv/Trigger
```
---
## ROS Topics

ROS topics published by this ROS2 Node: 

  - **bno055/imu** [(sensor_msgs/Imu)](http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html)
  - **bno055/imu_raw** [(sensor_msgs/Imu)](http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html)
  - **bno055/temp** [(sensor_msgs/Temperature)](http://docs.ros.org/api/sensor_msgs/html/msg/Temperature.html); The sensor's ambient temperature
  - **bno055/mag** [(sensor_msgs/MagneticField)](http://docs.ros.org/api/sensor_msgs/html/msg/MagneticField.html)
  - **bno055/calib_status** [(std_msgs/String)](http://docs.ros.org/en/api/std_msgs/html/msg/String.html) : 
  Sensor Calibration Status as JSON string - e.g. `{"sys": 3, "gyro": 3, "accel": 0, "mag": 3}`
  
  
While _bno055_ is the default ROS topic prefix, it can be configured by following the directions above.

---
  
## Development Workspace Setup

### On a Remote Device
Setup of a ROS2 workspace & IDE for a remote device (for example Raspberry Pi):

#### Clone & Build

Create a ROS2 [workspace](https://index.ros.org/doc/ros2/Tutorials/Workspace/Creating-A-Workspace/) on your remote device - for instance `~/ros2_ws`

Make sure you sourced your ROS2 installation (underlay).

Then clone the project into your workspace's src directory:

    cd ~/ros2_ws/src
    git clone https://github.com/flynneva/bno055.git
    
Perform a build of your workspace
    
    cd ~/ros2_ws
    colcon build

#### Integrate in your IDE

In order to work with the sources in your remote workspace and to integrate them in your IDE, use `sshfs`:

    sudo apt-get install sshfs
    sudo modprobe fuse

Create a IDE project directory and mount the remote ROS2 workspace:

    mkdir -p ~/projects/bno055/ros2_ws
    sshfs ubuntu@192.168.2.153:~/ros2_ws ~/projects/bno055/ros2_ws
    
Create a new project in your IDE from existing sources in `~/projects/bno055/ros2_ws`. 
You can now manipulate the remote ROS2 workspace using your local IDE (including git operations). 

### Running the ROS2 node
Run the `bno055` ROS2 node with default parameters:

    # source your local workspace (overlay) in addition to the ROS2 sourcing (underlay):
    source ~/ros2_ws/install/setup.sh
    # run the node:
    ros2 run bno055 bno055
    
Run with customized parameter file:

    ros2 run bno055 bno055 --ros-args --params-file ./src/bno055/bno055/params/bno055_params.yaml
    
Run launch file:

    ros2 launch bno055 bno055.launch.py
    

### Performing flake8 Linting

To perform code linting with [flake8](https://gitlab.com/pycqa/flake8) just perform:

    cd ~/ros2_ws/src/bno055
    ament_flake8

See [www.flake8rules.com](https://www.flake8rules.com/) for more detailed information about flake8 rules.

**Note:** we take advantage of [flake8's noqa mechanisim](https://flake8.pycqa.org/en/3.1.1/user/ignoring-errors.html) to selectively ignore some errors. Just search for `# noqa:` in the source code to find them.