Code Orientation Sensor Reader

Weber-State-Submarine-Project / Submarine

1 stars 0 forks source link

Code Orientation Sensor Reader #54

Open ZefraSK opened 1 month ago

ZefraSK commented 1 month ago

DONE: When the following is completed

[x] Python code that can read the data from the orientation sensor
[ ] Python script in then coded using ROS2 and published to a ROS2 Topic

Consider:

Currently working on Adafruit 9-DOF Orientation IMU Fusion Breakout - BNO085
adafruit_circuitpython_BNO085
BNO085 Pins
GPIO Wiring Guide
Libraries Needed

ZefraSK commented 1 month ago

Date: August 8th, 2024 Current Status:

Currently with the library Adafruit provided, we are only able to access 4 data values:

Acceleration
Gyro
Magnetometer
Linear Acceleration
Raw Acceleration
Raw Gyro
Raw Magnetometer

Example: Acceleration: X: -6.703125 Y: 0.113281 Z: 6.933594 m/s^2

Gyro: X: -0.005859 Y: 0.001953 Z: -0.001953 rads/s

Magnetometer: X: 50.875000 Y: 4.312500 Z: -38.937500 uT

Linear Acceleration: X: 0.007812 Y: 0.003906 Z: 0.011719 m/s^2

Raw Acceleration: X: 0x0020 Y: 0x0AF0 Z: 0x0B40 LSB

Raw Gyro: X: 0xFFFE Y: 0xFFFD Z: 0x0000 LSB

Raw Magnetometer: X: 0xFCD2 Y: 0xFFBB Z: 0xFD91 LSB

ZefraSK commented 1 month ago

Robot_localization uses geometry_msgs/msg/Vector3

Its a float64 x, y, z

IMU (has a header) sensor_msgs/msg/imu

Consider:

Orientation Converience
Linear Converience
Linear Accel
Angular Accel
Orientation

ZefraSK commented 2 days ago

Date: 9/10/24 Current Status:

ROS2 node is created and now publishes a custom msg to the topic "orientation_topic". I notice there is an issue where if the sensor disconnects at any point, it will break the code. Because of this, it is important to make sure it has a firm connection with the pi.

To Do:

Need to now publish the needed data to IMU topic