BNO08x ROS2 Driver

ROS2 driver for the BNO08x sensor family based on the SH-2 protocol.

The BNO08x family (BNO085/BNO086) is a compact System in Package (SiP) with integrated accelerometer, gyroscope, magnetometer, and a 32-bit ARM® Cortex™-M0+ running CEVA's SH-2 firmware. It delivers real-time 3D orientation, heading, calibrated acceleration, and angular velocity, with on-board sensor fusion algorithms and calibration. It supports I2C, SPI, and UART interfaces for sensor data output. For more information, refer to the datasheet.

Supported Features:

Communication Interfaces:

• I2C
• UART (Under development)
• SPI (Not yet implemented)

Data Rates:

• IMU data up to 400Hz
• Magnetic field data up to 100Hz

Important

This driver is actively maintained, with new features and bug fixes regularly added. Please feel free to open an issue if you encounter any problems or have feature requests.
If you're using this driver, consider giving the repository a star to show your support.

Note

If you need SPI support, kindly open an issue, and it will be added to the driver in a future update.

Parameters

Parameter	Type	Default	Description
frame_id	string	"bno085"	Frame ID for sensor data messages.
publish.magnetic_field.enabled	bool	true	Enable publishing of magnetic field data.
publish.magnetic_field.rate	int	100	Rate at which to publish magnetic field data (Hz).
publish.imu.enabled	bool	true	Enable publishing of IMU data.
publish.imu.rate	int	100	Rate at which to publish IMU data (Hz).
i2c.enabled	bool	true	Enable I2C communication.
i2c.device	string	"/dev/i2c-7"	I2C device path.
i2c.address	string	"0x4A"	I2C address of the BNO08x sensor.
uart.enabled	bool	false	Enable UART communication.
uart.device	string	"/dev/ttyACM0"	UART device path.

Note

UART communication is currently under development and will be fully supported by November 15, 2024. In the meantime, please use the I2C communication interface.

Installation

Clone the repository:

cd ~/ros_ws/src
git clone https://github.com/bnbhat/bno08x-ros2-driver.git

Build the package:

cd ~/ros_ws
colcon build --packages-select bno08x_ros2_driver

Install any missing dependencies using rosdep:

rosdep install --from-paths src --ignore-src -r -y

Usage

Sensor is configured to I2C by default. To use other communication interfaces , you need to do a hardware change. Please refer to the datasheet for more information. Once the hardware change is done, you can configure the driver to use UART/SPI communication interface.

Caution

If you want to use UART, make sure to select UART-SHTP mode in the sensor configuration.
UART-RVC is a simplified interface mode with minimal functionalities and is not supported by this driver.

I2C

To run the driver with I2C communication interface, you need to provide the I2C bus number and the I2C address of the BNO08x sensor.

example config file:

bno08x_driver:
  ros__parameters:

    frame_id: "bno085"  # The frame_id to use for the sensor data

    # Communication Interface
    # Select the communication interface to use 
    # (only one interface can be enabled at a time)
    # This requires a hardware change to the board
    # (see documentation for more information)
    i2c:
      enabled: true
      device: "/dev/i2c-18"
      address: "0x4A"

    uart:
      enabled: false
      device: "/dev/ttyACM0"  

    publish:
      all: false
      magnetic_field: 
        enabled: true
        rate: 100   # max 100 Hz
      imu:
        enabled: true
        rate: 100   # max 400 Hz

Launch the driver:

ros2 launch bno08x_ros2_driver bno085_i2c.launch.py

Code Structure

At the core of this driver is a C++ class, BNO08x, which represents the BNO080/BNO085/BNO086 sensor and provides required methods to interact with the sensor using the SH-2 protocol.

The communication interface is abstracted using the CommInterface class, which can be implemented for any communication method (I2C, UART, SPI).

Currently, I2C and UART communication interfaces are implemted and tested on Linux systems.

The Core BNO08x implementation can be used in any C++ project on any platform by implementing the CommInterface for the respective platform.

BNO08xROS is a wrapper class that uses the BNO08x class to provide ROS2 specific functionality.

The directory structure is as follows:

.
├── CMakeLists.txt
├── config
│   ├── bno085_i2c.yaml
│   └── bno085_uart.yaml
├── docs
│   ├── BNO080_085-Datasheet.pdf
│   └── SH-2-Reference-Manual.pdf
├── include
│   ├── bno08x_ros2_driver
│   │   ├── bno08x.hpp
│   │   ├── bno08x_ros.hpp
│   │   ├── comm_interface.hpp
│   │   ├── i2c_interface.hpp
│   │   ├── logger.h
│   │   └── uart_interface.hpp
│   └── sh2
│       ├── CMakeLists.txt
│       ├── NOTICE.txt
│       ├── README.md
│       ├── sh2.c
│       ├── sh2_err.h
│       ├── sh2.h
│       ├── sh2_hal.h
│       ├── sh2_SensorValue.c
│       ├── sh2_SensorValue.h
│       ├── sh2_util.c
│       ├── sh2_util.h
│       ├── shtp.c
│       └── shtp.h
├── launch
│   ├── bno085_i2c.launch.py
│   └── bno085_uart.launch.py
├── LICENSE
├── package.xml
├── ReadMe.md
└──  src
    ├── bno08x.cpp
    ├── bno08x_ros.cpp
    └── ros_node.cpp

Acknowledgements

This driver uses the SH-2 protocol library provided by Hillcrest Labs. It can be found in the include/sh2 directory. Visit the official repository here: SH-2 Protocol Library

A special thanks to Lemvos GmbH for providing the hardware for testing and development.

License

This project is licensed under the Apache License 2.0. You can find the full license text in the LICENSE file of the repository.