This is a ROSSerial Arduino driver for the SparkFun IMU ICM-20948, SparkFun IMU BNO080, and Arduino Nano33 Sense BLE The total cost of these three items is about $83. The full sensor list supported by this library:
- ICM-20948: 9DOF IMU with On-board Fusion
- BNO080: 9DOF IMU with On-board Fusion
- LSM9DS1: 9DOF IMU
- HTS221: Temperature and Humidity Sensor
- LPS22HB: Pressure Sensor
It is tested with ROS1 Noetic on a Raspberry Pi 4B with an Arduino Nano33 Sense BLE but may work on other configurations.
- /examples - Example sketches for the library (.ino). Run from the Arduino IDE.
- /main_driver - Main sketch for the library (.ino). Run from the Arduino IDE.
- /src - Source files for the ICM-20948 library (.cpp, .h).
- CONTRIBUTING.md - Guidelines on how to contribute to this library.
A lot of information and test scripts have been removed from this library for simplicity, refer to the original libraries for more information.
- Arduino LSM9DS1 Library
- Arduino HTS221 Library
- Arduino LPS22HB Library
- Sparkfun BNO080 Library
- Sparkfun ICM-20948 Library (included in this repository)
- Install the libraries above by searching in the Arduino IDE
Tools > Manage Libraries.... You do not need to install ICM-20948 which has been included and modified to support the Digital Motion Processor (DMP). - Install ROS Serial. Change noetic to your ROS version: kinetic, melodic, noetic, etc.
sudo apt-get install ros-noetic-rosserial-arduino
sudo apt-get install ros-noetic-rosserial
- Install ros_lib into the Arduino Environment
cd ~/Arduino/libraries
rm -rf ros_lib
rosrun rosserial_arduino make_libraries.py .
This product is open source!
Please see the included License.md for more information.
Distributed as-is; no warranty is given.
- Your friends at SparkFun.
Copyright (c) 2019 Arduino SA. All rights reserved.
This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA