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A ROS driver of Bosch BNO055 USB Stick

License: MIT License

C++ 80.98% CMake 19.02%

ros imu bosch

bno055_usb_stick's Introduction

bno055_usb_stick

A ROS driver of Bosch BNO055 USB Stick

Device

Bosch BNO055 USB Stick http://www.mouser.jp/new/bosch/bosch-bno055-usb-stick/

Dependencies

bno055_usb_stick_msgs https://github.com/yoshito-n-students/bno055_usb_stick_msgs

Published Topics

output (bno055_usb_stick_msgs/Output)

imu (sensor_msgs/Imu)

pose (geometry_msgs/PoseStamped)

associated with the fixed frame

magnetic_field (sensor_msgs/MagneticField)

temperature (sensor_msgs/Temperature)

Provided tf Transforms

fixed -> bno055

never broadcasted unless ~publish_tf is true
frame ids can be changed by ~tf_frame_id and ~tf_child_frame_id

Parameters

~port (string, default: "/dev/ttyACM0")

path to serial port which your BNO055 USB Stick is connected

~timeout (float, default: 1.0)

timeout on serial port communication in seconds

~mode (string, default: "ndof")

"nodf": estimate absolute orientation with an accelerometer, gyroscope, and magnetometer
"imu": estimate relative orientation with an accelerometer and gyroscope

~frame_id (string, default: "bno055")

frame id of messages except pose and tf

~pose_frame_id (string, default: "fixed")

frame id of pose messages

~publish_tf (bool, default: false)

publish tf messages or not

~tf_frame_id (string, default: "fixed")

parent frame id of tf messages

~tf_child_frame_id (string, default: "bno055")

child frame id of tf messages

~invert_tf (bool, default: false)

invert transfom in tf message or not
frame ids in tf message will NOT be swapped

Troubleshooting

[ERROR] []: start: open: Permission denied

give permission to the current user by sudo usermod -aG dialout $USER. This command is for ubuntu 16.04 and may vary for other environments.

bno055_usb_stick's People

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josephchen5 danielhaiman tiryoh gertkanter naoki-mizuno 5h3ll3h5 roverrobotics-forks philosophie sundermann azagricolagiorgiopantano neomanic knjinki tau-adl hshose anhquanvgu keioroboticsassociation tschuette22 anhquan-dao

bno055_usb_stick's Issues

Does this node work with the adafruit bno055 board?

This looks like a great ROS package however I don't have a bno055 USB stick yet (in the mail) but I do have the adafruit bno055 board connected via a serial cable. Does the this ROS package work with the adafruit bno055?

I think the adafruit bno055 and the bno055 stick use the same serial protocol so I'm not sure why this isn't working. I'm getting the error "handleWaitResponse: End of file" whenever I try launching a bno055_usb_stick_node. The error prints off about every second.

I am currently using the ROS package rr_bosch_bno055_imu to get data from the adafruit bno055 board and it works fine however it doesn't give access to all the data from the bno055 and it looks cumbersome to modify so that's why I'm hoping this one can work.

Any info would be greatly appreciated.

I'm running ROS kinetic on ubuntu 16.04.

How did you find out the protocol?

I am trying to add calibration to the software, but I can't find any protocol spec for the USB stick. How did you find out the protocol?

Error- Incorrect Bosh IMU device response

Thanks for sharing this code. I was trying to connect bno055 with ROS indigo ubuntu 14.04LTS and got the error Incorrect Bosh IMU device response. I found that while reading from dev the byte array length is zero. Can you tell me how to resolve this error? I'm using bno055 with red pcb.

Which BNO055 USB Stick version do you use?

Hi,

I got my BNO055 USB stick from Digikey today (https://www.digikey.com/product-detail/en/bosch-sensortec/BNO055-USB-STICK/828-1045-ND/6136288). But when I plug it in I didn't see /dev/ttyACM0 showing up. So I was wondering if you are using the same hardware (Red PCB) or the green PCB version.

Thanks in advance.

[ERROR] []: start: open: Permission denied

Hi,

I have got an BNO055 USB Stick and want to use it with ubuntu 16.04 and ros kinetic.
I installed the package and tried to run the node. But when I run the node I get the following output:

[ERROR] [1526481970.305344177]: start: open: Permission denied

I didn't install any other driver or updated the firmware. I just plugged in the usb stick and installed the package. What else do I have to do, when I want to run this node?

Thank you in advance.

Best wishes
anleger

Does driver conform to REP-103?

Just a question, does the driver output according to REP-103? Specifically, does the linear acceleration conform to ENU, east-north-up?

I don't know whether the data from the stick is REP-103 formatted, but maybe the driver converts it to REP-103.

Scale error in gyro conversion

I'm seeing what appears to be a scale error in the conversion of the gyro measurements. I am using a bno055 with a high precision RTK GPS on a mobile platform, and I'm seeing a non-negligible difference between the yaw angle estimated from the gyro when turning, and the differential angle from the GPS.

From the testing I was seeing what looked to be about a 1.5% scale error (on yaw rate), and that scale error was identical for different bno055 units, so I suspected that there may be a systematic error in the conversion in the driver. Looking a little closer at the code I saw this:

gyr.z = decodeVal(data[5], data[4], Constants::GYR_DENOM) * M_PI / 180.;

where GYR_DENOM is 16. This appears to follow the Bosch documentation: https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST-BNO055-DS000.pdf, but the documentation oddly specifies inconsistent conversion factors: 1 degree / second = 16, but 1 radian / second = 900. As it turns out, converting the degrees / second factor to a radians / second factor results in about 916.7, which is pretty close to the observed error. I haven't read Bosch's documentation in detail, but it's possible the the radians / second conversion is the exact conversion, while the degrees / second conversion is an integer approximation. It might also be the case that neither is exact, and there is some other correct floating point conversion factor. In any case, it appears that the radians / second conversion factor is more correct based on what we've seen with our testing.

I assume that this also affects the orientation measurements, but I haven't looked at those to verify.

Run directions please?

Would be nice to see run directions in the readme.

I used: rosrun bno055_usb_stick bno055_usb_stick_node but got back error message

[ERROR] [1527981048.145777140]: handleWaitResponse: End of file

I have updated the firmware to the latest: BNO_Firmware_0.3.2.0.hex. I also updated the controller firmware to BNOinUSBStick_V1.4.fwu3.

The stick works fine in Development Desktop 2.0.

The stick is at port ttyACM0.