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bno055 IMU doesn't give absolute orientation

asked 2020-08-26 09:56:45 -0500

Anonymous

Hello,

For my robot I am using the Adafruit bno055 9DOF absolute orientation IMU. However, the orientation given is relative to it's starting position, not the magnetic north pole.

I have tried using the rtimulib_ros package as well as ros-imu-bno055 but in both cases the result is the same.

I know the magnetometer is working since I can see its output in one of the topics published by ros-imu-bno055 and those values change if I move a magnet close to it, but I'll admit that I don't really know how to interpret that data so I'm not sure what kind of value I should be seeing.

The IMU connected to a Jetson Nano via I2C.

Thanks!

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answered 2020-08-26 11:04:16 -0500

stevemacenski

8272 ●34 ●503 ●129 https://www.linkedin.c...

That is expected behavior. Its absolute orientation relative to startup. Some IMUs won’t even do that fusion for you.

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I see. Is there an existing package that will allow me to use the magnetometmer to set the origin to the magnetic north?

Anonymous ( 2020-08-27 11:28:40 -0500 )edit

hi @jeremie, I've been working on a ROS2 bno055 package for awhile now with plans on adding I2C support relatively shortly. might be of interest to you:

https://github.com/flynneva/bno055

flynneva ( 2021-02-09 17:26:11 -0500 )edit

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Asked: 2020-08-26 09:56:45 -0500

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Last updated: Aug 26 '20

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bno055 IMU doesn't give absolute orientation