[ROS] BNO055 IMU with I2C
vcc-5v
gnd-gnd
dat-sda
clk-clk
Jetson xavier
pin 3 = I2C1_SDA
pin 5= I2C1_SCL
=> I2C BUS 8
<BNO055 choose I2C or UART>
Download i2c tools
$ sudo apt-get install libi2c-dev i2c-toolsGet permission
$ sudo chmod 666 /dev/i2c-1add your user to the i2c group
$ sudo usermod -a -G i2c $USERcheck able i2c (code default = /dev/i2c-1)
$ i2cdetect -l
$ ls /dev/i2c*
check address (code default = 0x28)
$ sudo i2cdetect -y 8
$ sudo i2cdetect -y -r 8 //read onlyrun
$ roslaunch imu_bno055 imu.launchReference:
I2C BNO055 ROS: https://github.com/dheera/ros-imu-bno055
GitHub - dheera/ros-imu-bno055: ROS package for the BNO055 IMU via I2C
ROS package for the BNO055 IMU via I2C. Contribute to dheera/ros-imu-bno055 development by creating an account on GitHub.
github.com
Pin map: https://jetsonhacks.com/nvidia-jetson-xavier-nx-gpio-header-pinout/
NVIDIA Jetson Xavier NX GPIO Header Pinout - JetsonHacks
JetsonHacks is a site devoted to developing on the NVIDIA Jetson Development Kits.
jetsonhacks.com
I2C explanation: https://95mkr.tistory.com/entry/ROS14
[ROS] 14. Jetson Nano 와 Arduino 의 I2C 통신
☞ 메인보드 : Jetson Nano Developer Kit ☞ 운영 체제 : Ubuntu 18.04 - JetPack 4.4.1 ☞ ROS 버전 : Melodic ☞ IDE : Visual Studio Code ☞ 언어 : Python 목차 ○ 1. I2C 란? ○ 2. Jetson Nano(Master) ○ 3. Arduino(Slave) ○ 4. 실행
95mkr.tistory.com
i2cdetect explanation: https://linuxhint.com/i2c-linux-utilities/
I2C Utilities in Linux
In Linux environment few commands are available, which can be used to perform i2c transactions to the slave devices connected to the system. There are multiple commands available, we will discuss all the commands available at the time of this writing with
linuxhint.com