ROS MPU6050 Node

Publishes IMU DMP sensor data from an MPU6050 connected to an I2C bus on a Raspberry Pi.

Installation

First install I2Cdevlib:

sudo mkdir -p /usr/share/arduino/libraries
cd /usr/share/arduino/libraries
sudo git clone https://github.com/chrisspen/i2cdevlib.git

Note the fork should be used for now, since jrowberg's i2cdevlib has several outstanding bugs and is unmaintained.

Then install Bcm2835:

cd /tmp
wget http://www.airspayce.com/mikem/bcm2835/bcm2835-1.50.tar.gz
tar zxvf bcm2835-1.50.tar.gz
cd bcm2835-1.50
./configure
make
make check
sudo make install

Then clone the project into your ROS workspace via:

git clone https://github.com/chrisspen/ros_mpu6050_node.git

And then compile it:

catkin_make --pkg ros_mpu6050_node

Usage

Since the Raspbian kernel and BCM2835 driver restrict I2C access to only the root user, you must launch the node as root like:

sudo bash -c "source /your/ros/path/setup.bash; roslaunch ros_mpu6050_node mpu6050.launch"

Assuming the device is properly wired, it should report "DMP ready!". Now you should be able to see the IMU stream with:

rostopic echo /imu/data

Similar Projects

https://github.com/brNX/ros_mpu6050_node

https://github.com/matpalm/ros-mpu6050-node