idmind_imu

Description

ROS2 package providing drivers for IMU devices used on IDMind robots. Currently supports the TinkerForge IMU Brick 2.0 (BNO-055 sensor), which provides orientation, angular velocity, linear acceleration, magnetic field, and temperature data.

Tested on Ubuntu 22.04 with ROS2 Humble.

Prerequisites (TinkerForge IMU Brick)

1. Install BrickDaemon
2. Install Python3 TinkerForge bindings
3. Identify the device UID (use BrickViewer or sudo lsusb -v -d 16d0:063d | grep iSerial)

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Launch Files

• idmind_imu_brick.launch.py
  Starts the TinkerForge IMU Brick 2.0 driver node.

ros2 launch idmind_imu idmind_imu_brick.launch.py

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Nodes

imu_brick_node

Driver node for the TinkerForge IMU Brick 2.0 (BNO-055).

Responsibilities:

• Connects to the BrickDaemon and opens the IMU Brick device
• Reads orientation (quaternion), angular velocity, linear acceleration, magnetic field, and temperature
• Publishes sensor data as standard ROS messages
• Handles reconnection on timeout

Parameters

Name	Description	Default
control_freq	Main loop frequency (Hz)	20.0
imu_freq	IMU data stream frequency (Hz)	20.0
imu_frame	TF frame name for IMU data	"imu"
imu_leds	Enable the status LEDs on the IMU Brick	False
imu_fusion_mode	BNO-055 fusion mode (see TinkerForge docs)	2
timeout	Timeout before reporting a connection error (s)	1.0

Publishers

Topic	Type	Description
imu_brick_node/imu	sensor_msgs/msg/Imu	Orientation, angular velocity, and linear acceleration
imu_brick_node/temperature	sensor_msgs/msg/Temperature	IMU chip temperature
imu_brick_node/magnetic_field	sensor_msgs/msg/MagneticField	Magnetometer reading
imu_brick_node/euler	std_msgs/msg/Float32	Yaw angle in degrees (Euler Z)
imu_brick_node/timer	std_msgs/msg/Float32	Loop timing diagnostic
/diagnostics	diagnostic_msgs/msg/DiagnosticArray	Node diagnostic status

Services

Name	Type	Description
imu_brick_node/ready	std_srvs/srv/Trigger	Returns whether the node is ready
imu_brick_node/standby	std_srvs/srv/SetBool	data: true suspends publishing on the data topics; data: false resumes. Samples keep arriving from the device while suspended, so the connection watchdog stays quiet.