Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

bno055 IMU doesn't give absolute orientation

asked 2020-08-26 09:56:45 -0600

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!

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2020-08-26 11:04:16 -0600

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.

edit flag offensive delete link

Comments

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 -0600 )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 -0600 )edit

add a comment

Question Tools

2 followers

Stats

Asked: 2020-08-26 09:56:45 -0600

Seen: 802 times

Last updated: Aug 26 '20

bno055 IMU doesn't give absolute orientation edit

1 Answer

Comments

Question Tools

Stats

Related questions

bno055 IMU doesn't give absolute orientation