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|
mpu6050driver package from ros2_mpu6050_driver repompu6050driver |
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A ROS2 package that interfaces with an MPU6050 sensor over I2C. |
| Checkout URI | https://github.com/hiwad-aziz/ros2_mpu6050_driver.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2021-08-04 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | raspberry-pi i2c-sensors ros2 mpu6050 gy521 |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Hiwad Aziz
Authors
MPU6050 Driver for ROS2
This repository contains a ROS2 package that interfaces with an MPU6050 sensor over I2C. The sensor is calibrated on node startup (sensor needs to be on a plane with z-axis up and should not be moved during calibration). Calibration can be turned off in the parameters file. The output is an IMU ROS message but the quaternion part is currently set to zero.
Dependencies
- libi2c-dev
Setup
The number of iterations for calibration can be set up in include/mpu6050driver/mpu6050sensor.h.
Following other parameters and default values are listed here and can be changed in params/mpu6050.yaml.
``` calibrate: True gyro_range: 0 accel_range: 0 dlpf_bandwidth: 2 gyro_x_offset: 0.0 # [deg/s] gyro_y_offset: 0.0 # [deg/s] gyro_z_offset: 0.0 # [deg/s] accel_x_offset: 0.0 # [m/s²] accel_y_offset: 0.0 # [m/s²] accel_z_offset: 0.0 # [m/s²] frequency: 100 # [Hz]
```
Build the package in your workspace:
colcon build --packages-select mpu6050driver
Source setup.bash in your workspace:
. install/setup.bash
Launch it:
ros2 launch mpu6050driver mpu6050driver_launch.py
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common |