imu_waveshare_ros2_driver

10 DOF ROS IMU (A) is a 10-axis IMU sensor that integrates an ARM 32-bit DSP processor, BLE5.3 Bluetooth, high-precision accelerometer, gyroscope, magnetometer, and temperature and pressure sensor. When used together, it can collect surrounding acceleration, gyroscope, and magnetic field data, and detect the motion attitude of the robot.

Инструкция по установке

1. Установка библиотеки под serial-port

cd serial && mkdir build && cd build
cmake .. && make
sudo make install

2. Установка остальных зависимостей

sudo apt update && sudo apt install libserial-dev  ros-${ROS_DISTRO}-imu-tools

3. Сборка основного пакета

colcon build --packages-select imu

Подключение устройства

1. Определите устройство:

ls /dev/ttyUSB*

2. Настройте права:

sudo usermod -a -G dialout $USER
sudo chmod 666 /dev/ttyUSB0
newgrp dialout