pi_bno055_ros

A C Driver program driving bno055 using I2C interface on a Raspberry Pi (4 model B) and a ROS wrapper upon it.

Introduction

C Driver Program of BNO055 Using I2C Interface

This project takes the reference to this original implementation. My project extends and refactors it for two purposes:

• (1) build a library for subsequent projects;
• (2) interface with Adafruit BNO055 for configurations and testings.

Hereby, sincerely thank Frank M. for his sharing in terms of a comprehensive and convenient I2C interface with BNO055.

ROS Wrapper upon C Driver Program

This ROS package is built upon the CMake project pi-bno055, which needs to be first built, installed and packaged. Check pi_bno055 for details. Additionally, please ensure that you place the dependency pi-bno055 parallel to cam_imu_ws under the same directory as it is, as this ROS package is built upon such relative file locations.

Installation and Usage

C Driver Program of BNO055 Using I2C Interface

Please check the specific readme in this repo.

ROS Wrapper upon C Driver Program

Please check the specific readme in this repo.