From: Walter Fetter Lages Date: Wed, 20 Feb 2019 17:13:20 +0000 (-0300) Subject: Initial commit. X-Git-Tag: f1~6 X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=4126a7f0433c60287bf7277f70b389bb02bae662;p=bno055_driver.git Initial commit. --- 4126a7f0433c60287bf7277f70b389bb02bae662 diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..a0b3f21 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,221 @@ +cmake_minimum_required(VERSION 2.8.3) +project(bno055_driver) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + eigen_conversions + geometry_msgs + sensor_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) +#find_package(bno055 REQUIRED) +find_package(Eigen3 REQUIRED) + +add_library(bno055 STATIC IMPORTED) # or STATIC instead of SHARED +set_target_properties(bno055 PROPERTIES + IMPORTED_LOCATION "$ENV{HOME}/doc/ufrgs/miotec/bno055/BNO055_driver/libbno055.a" + INTERFACE_INCLUDE_DIRECTORIES "$ENV{HOME}/doc/ufrgs/miotec/bno055/BNO055_driver" +) +add_library(bno055ifc STATIC IMPORTED) # or STATIC instead of SHARED +set_target_properties(bno055ifc PROPERTIES + IMPORTED_LOCATION "$ENV{HOME}/lib/libbno055ifc.a" + INTERFACE_INCLUDE_DIRECTORIES "$ENV{HOME}/include" +) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs +# sensor_msgs +# eigen_conversions +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES bno055_driver +# CATKIN_DEPENDS roscpp geometry_msgs sensor_msgs eigen_conversions +# DEPENDS bno055 Eigen3 +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +# TODO: Check names of system library include directories (bno055, Eigen3) +# ${bno055_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/bno055_driver.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +add_executable(bno055_node src/bno055_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +target_link_libraries(bno055_node + ${catkin_LIBRARIES} +# ${bno055_LIBRARIES} + bno055ifc + bno055 +) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_bno055_driver.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/launch/bno055.launch b/launch/bno055.launch new file mode 100644 index 0000000..4e12657 --- /dev/null +++ b/launch/bno055.launch @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/launch/display.launch b/launch/display.launch new file mode 100644 index 0000000..2956a4c --- /dev/null +++ b/launch/display.launch @@ -0,0 +1,10 @@ + + + + + + + + diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..1c1135a --- /dev/null +++ b/package.xml @@ -0,0 +1,75 @@ + + + bno055_driver + 0.0.0 + The bno055_driver package + + + + + Walter Fetter Lages + + + + + + GPLv3 + + + + + + + + + + + + + Walter Fetter Lages + + + + + + + + + + + + + + + + + + + + + + + catkin + bno055 + roscpp + geometry_msgs + sensor_msgs + eigen_conversions + bno055 + roscpp + geometry_msgs + sensor_msgs + eigen_conversions + bno055 + roscpp + geometry_msgs + sensor_msgs + eigen_conversions + + + + + + + + diff --git a/rviz/display.rviz b/rviz/display.rviz new file mode 100644 index 0000000..8738e7f --- /dev/null +++ b/rviz/display.rviz @@ -0,0 +1,187 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /RobotModel1 + - /RobotModel1/Links1 + - /RobotModel1/Links1/base_link1 + Splitter Ratio: 0.3928571343421936 + Tree Height: 558 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: true + Show Trail: false + Value: true + origin_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Class: rviz_plugin_tutorials/Imu + Color: 204; 51; 204 + Enabled: true + History Length: 1 + Name: Imu + Topic: /imu + Unreliable: false + Value: true + - Class: rviz/Axes + Enabled: true + Length: 0.10000000149011612 + Name: Axes + Radius: 0.009999999776482582 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: false + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: temperature + Class: rviz/Temperature + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: true + Max Color: 255; 255; 255 + Max Intensity: 100 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Temperature + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: /temperature + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + Enabled: true + Global Options: + Background Color: 249; 249; 249 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.749889850616455 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.19180631637573242 + Y: -0.2178049087524414 + Z: 0.2896389067173004 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.785398006439209 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398006439209 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1372 + X: 32 + Y: 0 diff --git a/src/bno055_node.cpp b/src/bno055_node.cpp new file mode 100644 index 0000000..f5b5680 --- /dev/null +++ b/src/bno055_node.cpp @@ -0,0 +1,289 @@ +/****************************************************************************** + ROS BNO055 Driver + BNO055 IMU Publisher Node + Copyright (C) 2019 Walter Fetter Lages + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, but + WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see + . + +*******************************************************************************/ + +#include +//#include +#include + +#include +#include +#include +#include +#include +#include + +#include +using namespace Eigen; + +class Bno055Node +{ + public: + Bno055Node(ros::NodeHandle node); + ~Bno055Node(void); + void sample(void); + void publish(void) const; + + private: + struct bno055_t bno055_; + ros::NodeHandle node_; + ros::Publisher imuPub_; + ros::Publisher temperaturePub_; + ros::Publisher magneticFieldPub_; + ros::Publisher accelPub_; + ros::Publisher gravityPub_; + + bool uart_; + + Vector3d accel_; + Vector3d mag_; + Vector3d gyro_; + + Quaterniond quaternion_; + Vector3d linearAccel_; + Vector3d gravity_; + + double temp_; +}; + +Bno055Node::Bno055Node(ros::NodeHandle node): uart_(false) +{ + node_=node; + + ros::NodeHandle nh("~"); + std::string device; + if(!nh.getParam("device",device)) + { + ROS_ERROR_STREAM("Could not find parameter: device."); + exit(-1); + } + + std::string addressStr; + if(!nh.getParam("address",addressStr)) uart_=true; + + int mode; + nh.param("mode",mode,BNO055_OPERATION_MODE_NDOF); + + if(uart_) + { + if(BNO055_tty_init(device.c_str(),&bno055_)) + { + ROS_ERROR_STREAM("Error initializing TTY interface"); + exit(-1); + } + } + else + { + u8 address=std::stoi(addressStr,NULL,0); +// if(BNO055_i2c_init(device.c_str(),address,&bno055_)) + { + perror("Error initializing I2C interface"); + exit(-1); + } + } + + if(bno055_init(&bno055_) != BNO055_SUCCESS) + ROS_ERROR_STREAM("Error initializing bno055."); + + u8 stat_clk; + if(bno055_get_stat_main_clk(&stat_clk) != BNO055_SUCCESS) + ROS_ERROR_STREAM("Error reading clock status."); + else + { + if(stat_clk==0) + { + if(bno055_set_clk_src(1) != BNO055_SUCCESS) + ROS_ERROR_STREAM("Error setting clock source."); + } + else ROS_ERROR_STREAM("Clock source can't be changed."); + } + + if(bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ) != BNO055_SUCCESS) + ROS_ERROR_STREAM("Error setting acceleration unit to m/s^2."); + + if(bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS) != BNO055_SUCCESS) + ROS_ERROR_STREAM("Error setting gyroscope unit to rad/s."); + + if(bno055_set_temp_unit(BNO055_TEMP_UNIT_CELSIUS) != BNO055_SUCCESS) + ROS_ERROR_STREAM("Error setting temperature unit to Celsius."); + + if(bno055_set_data_output_format(0x01) != BNO055_SUCCESS) + ROS_ERROR_STREAM("Error setting data output format."); + + if(bno055_set_operation_mode(mode) != BNO055_SUCCESS) + ROS_ERROR_STREAM("Error setting operation mode."); + + imuPub_=node_.advertise("imu",100); + temperaturePub_=node_.advertise("temperature",100); + magneticFieldPub_=node_.advertise("magnetic_field",100); + accelPub_=node_.advertise("acceleration",100); + gravityPub_=node_.advertise("gravity",100); +} + +Bno055Node::~Bno055Node(void) +{ + imuPub_.shutdown(); + temperaturePub_.shutdown(); + magneticFieldPub_.shutdown(); + accelPub_.shutdown(); + gravityPub_.shutdown(); + + if(uart_) BNO055_tty_close(&bno055_); +// else BNO055_i2c_close(&bno055_); +} + +void Bno055Node::publish(void) const +{ + ros::Time time=ros::Time::now(); + + sensor_msgs::Imu imuMsg; + imuMsg.header.stamp=time; + imuMsg.header.frame_id="imu"; + + tf::quaternionEigenToMsg(quaternion_,imuMsg.orientation); + for (int i=0; i < 9; i++) imuMsg.orientation_covariance[i]=0.0; + imuMsg.orientation_covariance[0]=0.0; + imuMsg.orientation_covariance[3]=0.0; + imuMsg.orientation_covariance[6]=0.0; + + tf::vectorEigenToMsg(gyro_,imuMsg.angular_velocity); + for (int i=0; i < 9; i++) imuMsg.angular_velocity_covariance[i]=0.0; + imuMsg.angular_velocity_covariance[0]=0.0; + imuMsg.angular_velocity_covariance[3]=0.0; + imuMsg.angular_velocity_covariance[6]=0.0; + + tf::vectorEigenToMsg(linearAccel_,imuMsg.linear_acceleration); + for (int i=0; i < 9; i++) imuMsg.linear_acceleration_covariance[i]=0.0; + imuMsg.linear_acceleration_covariance[0]=0.0; + imuMsg.linear_acceleration_covariance[3]=0.0; + imuMsg.linear_acceleration_covariance[6]=0.0; + + imuPub_.publish(imuMsg); + + sensor_msgs::Temperature temperatureMsg; + temperatureMsg.header.stamp=time; + temperatureMsg.header.frame_id="imu"; + + temperatureMsg.temperature=temp_; + temperatureMsg.variance=0.0; + + temperaturePub_.publish(temperatureMsg); + + sensor_msgs::MagneticField magneticFieldMsg; + magneticFieldMsg.header.stamp=time; + magneticFieldMsg.header.frame_id="imu"; + + tf::vectorEigenToMsg(mag_,magneticFieldMsg.magnetic_field); + for (int i=0; i < 9; i++) magneticFieldMsg.magnetic_field_covariance[i]=0.0; + magneticFieldMsg.magnetic_field_covariance[0]=0.0; + magneticFieldMsg.magnetic_field_covariance[3]=0.0; + magneticFieldMsg.magnetic_field_covariance[6]=0.0; + + magneticFieldPub_.publish(magneticFieldMsg); + + geometry_msgs::Vector3Stamped accelMsg; + accelMsg.header.stamp=time; + accelMsg.header.frame_id="imu"; + + tf::vectorEigenToMsg(accel_,accelMsg.vector); + + accelPub_.publish(accelMsg); + + geometry_msgs::Vector3Stamped gravityMsg; + gravityMsg.header.stamp=time; + gravityMsg.header.frame_id="imu"; + + tf::vectorEigenToMsg(accel_,gravityMsg.vector); + + gravityPub_.publish(gravityMsg); + +} + +void Bno055Node::sample(void) +{ + struct bno055_accel_t accel; + if(bno055_read_accel_xyz(&accel) == BNO055_SUCCESS) + accel_ << accel.x/BNO055_ACCEL_DIV_MSQ, + accel.y/BNO055_ACCEL_DIV_MSQ, + accel.z/BNO055_ACCEL_DIV_MSQ; + else ROS_ERROR_STREAM("Error reading acceleration."); + + struct bno055_mag_t mag; + if(bno055_read_mag_xyz(&mag) == BNO055_SUCCESS) + mag_ << mag.x/BNO055_MAG_DIV_UT*1e-6, + mag.y/BNO055_MAG_DIV_UT*1e-6, + mag.z/BNO055_MAG_DIV_UT*1e-6; + else ROS_ERROR_STREAM("Error reading magnetometer."); + + struct bno055_gyro_t gyro; + if(bno055_read_gyro_xyz(&gyro) == BNO055_SUCCESS) + gyro_ << gyro.x/BNO055_GYRO_DIV_RPS, + gyro.y/BNO055_GYRO_DIV_RPS, + gyro.z/BNO055_GYRO_DIV_RPS; + else ROS_ERROR_STREAM("Error reading gyroscope."); + + s8 temp; + if(bno055_read_temp_data(&temp) == BNO055_SUCCESS) + temp_=temp/BNO055_TEMP_DIV_CELSIUS; + else ROS_ERROR_STREAM("Error reading temperature."); + + struct bno055_quaternion_t quaternion; + if(bno055_read_quaternion_wxyz(&quaternion) == BNO055_SUCCESS) + { + quaternion_.w()=quaternion.w/BNO055_QUATERNION_DIV; + quaternion_.x()=quaternion.x/BNO055_QUATERNION_DIV; + quaternion_.y()=quaternion.y/BNO055_QUATERNION_DIV; + quaternion_.z()=quaternion.z/BNO055_QUATERNION_DIV; + } + else ROS_ERROR_STREAM("Error reading quaternion."); + + struct bno055_linear_accel_t linearAccel; + if(bno055_read_linear_accel_xyz(&linearAccel) == BNO055_SUCCESS) + linearAccel_ << linearAccel.x/BNO055_LINEAR_ACCEL_DIV_MSQ, + linearAccel.y/BNO055_LINEAR_ACCEL_DIV_MSQ, + linearAccel.z/BNO055_LINEAR_ACCEL_DIV_MSQ; + else ROS_ERROR_STREAM("Error reading linear acceleration."); + + struct bno055_gravity_t gravity; + if(bno055_read_gravity_xyz(&gravity) == BNO055_SUCCESS) + gravity_ << gravity.x/BNO055_GRAVITY_DIV_MSQ, + gravity.y/BNO055_GRAVITY_DIV_MSQ, + gravity.z/BNO055_GRAVITY_DIV_MSQ; + else ROS_ERROR_STREAM("Error reading gravity."); +} + +int main(int argc,char* argv[]) +{ + ros::init(argc,argv,"bno055_node"); + ros::NodeHandle node; + + Bno055Node bno055Node(node); + + ros::Rate loop(100); + while(ros::ok()) + { + bno055Node.sample(); + bno055Node.publish(); + + ros::spinOnce(); + loop.sleep(); + } + return 0; +}