bosch_imu_driver

A driver for the sensor IMU Bosch BNO055. It was implemented only the UART communication interface (correct sensor mode should be selected).

Parameters:

• port (default: '/dev/ttyUSB0') - path to USB port where device was connected. Raspberry Pi: set to /dev/serial0
• frame_id (default: 'imu_link') - the frame in which sensor data will be published.
• frequency (default: 100) - the frequency of reading from device and publishing data in Hz.
• operation_mode (default: OPER_MODE_NDOF) - the operation mode of sensor BNO055. Other modes could be found in sensor datasheet.
• axis_remap_config (default: 0x24) - the axis remap configuration. Refer to the datasheet page 27.
• axis_remap_sign (default: 0x00) - the axis remap sign. Refer to the datasheet page 27.

Publishes:

• /imu/data (sensor_msgs/Imu)
• /imu/raw (sensor_msgs/Imu)
• /imu/mag (sensor_msgs/MagneticField)
• /imu/temp (sensor_msgs/Temperature)
• /imu/status (diagnostic_msgs/DiagnosticStatus)