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.
- libi2c-dev
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.
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
Grant user access to i2c, need to reboot afterwards:
sudo usermod <user-name> -aG i2c # or this: sudo chmod +777 /dev/i2c-*
Launch it:
ros2 launch mpu6050driver mpu6050driver_launch.py