BNO055_ROS2 is a Ros2 Humble package designed to interface with the Bosch BNO055 sensor on Jetson devices, providing orientation and motion sensing capabilities. This project uses BNO055_SensorAPI and libi2c libraries.
- 9-axis sensor fusion
- Real-time orientation data
- C++17 or higher
- CMake (3.8 or higher)
- ROS 2 Humble
- Jetson device
- Clone the repository to the src directory of your workspace with submodules:
git clone --recurse-submodules https://github.com/alpertng02/jetson-imu.git
- Navigate to the project directory:
cd your_workspace - Build using colcon:
colcon build --cmake-args=-DCMAKE_BUILD_TYPE=Release --packages-select bno055_ros2
- Connect the BNO055 sensor to your Jetson device through GPIO 3 and 5.
- Source the ROS 2 setup script:
source /opt/ros/<distro>/setup.bash source install/setup.bash
- Run the ROS node:
ros2 run bno055_ros2 bno055_publisher /dev/i2c-1 0x28
This project is licensed under the Apache-2.0 License. See the LICENSE file for details.
Contributions are welcome! Please open an issue or submit a pull request.
For any questions or suggestions, please contact alpert.guven@gmail.com.