mav_imu

Userspace driver for adis16448 and BMI088 written in C++17.

Setup

1. Install dependencies

$ sudo apt-get install ros-noetic-imu-tools libgoogle-glog-dev
$ git clone [email protected]:ethz-asl/lpp.git

2. Go to the catkin workspace and clone this repo in the src folder and build it with

$ git clone --recurse-submodules [email protected]:ethz-asl/mav_imu.git
$ catkin build mav_imu

3. Source environment

$ source /opt/ros/noetic/setup.bash
$ source ~/catkin_ws/devel/setup.bash

4. Launch node

$ roslaunch mav_imu imu_default.launch

• Optionally run with rviz

$ roslaunch mav_imu imu_rviz.launch

• Optionally run with imu_madgwick_filter

$ rosrun imu_madgwick_filter imu_filter_node

5. Example BMI088 and Jetson Xavier NX

• Connect BMI088 to 40 pin header according to schematics

roslaunch mav_imu imu.launch imu:=bmi088 spi_path:=/dev/spidev0.0

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There is also a kernel level driver but: