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dheera / ros-imu-bno055

ROS package for the BNO055 IMU via I2C
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High rate raw data #11

Open mzahana opened 2 months ago

mzahana commented 2 months ago

Hi @dheera

I would like to get high rate (~200Hz) of the raw data (accelerometer and gyroscope) to use with some visual inertial navigation frameworks.

Is this achievable using this driver? IF yes, what needs to be done? Is it related to https://github.com/dheera/ros-imu-bno055/blob/4c80f360a7dce3abefeb8df505d2331f29c3fcc0/src/bno055_i2c_node.cpp#L72

Thanks

dheera commented 1 month ago

Hi, BNO055 only supports 100Hz in Fusion mode. Increasing this "rate" parameter beyond 100 will not help.

You can get higher rates of raw, unfused data by selecting one of the higher "non-fusion" modes. This driver does not support them but you can read the datasheet and add support for them https://www.mouser.com/datasheet/2/783/bst_bno055_ds000-3247202.pdf