Implement C++ Lifecycle Node for BNO055 IMU Driver

[Copilot]

Converts Python BNO055 driver to C++17 Lifecycle Node for ROS2 Humble, replacing threading with timers and adding explicit state management.

Architecture

Lifecycle State Machine

• on_configure: Hardware connection, chip verification, register configuration
• on_activate: Publisher activation, timer initialization (data/calibration/watchdog)
• on_deactivate: Timer shutdown, publisher deactivation, connection maintained
• on_cleanup: Hardware disconnection, resource release
• on_error: Safe cleanup with exception handling

Hardware Communication

• I2CConnector: Direct i2c-dev syscalls with 32-byte chunking, auto-incrementing registers
• UARTConnector: termios-based serial with non-blocking open, timeout-based reads
• Both implement abstract Connector interface for polymorphism

Data Pipeline

• SensorService: Manages publishers, timers, and data acquisition
• Single 45-byte bulk read from ACCEL_DATA_X_LSB_ADDR
• Publishes 6 topics: imu, imu_raw, mag, grav, temp, calib_status
• Quaternion normalization and covariance matrix population

Key Changes

Build System

• package.xml: ament_python → ament_cmake, added C++ dependencies
• CMakeLists.txt: Compiles lifecycle node executable
• Headers in include/bno055/, sources in src/

Performance

• rclcpp::Timer replaces Python threading.Lock
• 3 independent timers: data query, calibration logging, watchdog
• Watchdog monitors system_status/self_test registers every 500ms

Launch

• bno055_lifecycle.launch.py: Auto-transitions through configure→activate
• Preserves Python node for backward compatibility

Example Usage

# Automatic lifecycle management
ros2 launch bno055 bno055_lifecycle.launch.py

# Manual control
ros2 lifecycle set /bno055 configure
ros2 lifecycle set /bno055 activate
ros2 lifecycle set /bno055 deactivate

Implementation Notes

• BNO055 supports register auto-increment; I2C connector exploits this for efficient bulk reads
• UART uses O_NONBLOCK on open to prevent blocking on unavailable ports
• Calibration logging uses DEBUG level to avoid 10Hz spam
• All std::vector allocations sized upfront to minimize reallocations

Original prompt

Görev: Mevcut ROS2 Python BNO055 sürücüsünü, ROS2 Humble standartlarına uygun, yüksek performanslı bir C++ Lifecycle Node (Managed Node) yapısına dönüştür.

Teknik Gereksinimler:

Dil ve Standart: C++17, ROS2 Humble rclcpp_lifecycle.

Kütüphane Seçimi: I2C/Serial iletişimi için io_context veya libi2c gibi düşük seviyeli, asenkron olmayan, bloklanmayan kütüphaneler tercih edilmeli.

Lifecycle Durum Yönetimi:

on_configure: Parametreleri oku (port, address, frame_id), donanım bağlantısını başlat.

on_activate: Publisher'ları (sensor_msgs/msg/Imu) aktif et ve veri okuma döngüsünü (timer) başlat.

on_deactivate: Timer'ı durdur ve veri akışını kes.

on_cleanup: Donanım kaynaklarını serbest bırak.

on_error: Bağlantı kopması durumunda hata logla ve güvenli bir şekilde temizlik yap.

Performans ve Kararlılık: > * Python'daki threading yapısı yerine C++ rclcpp::Timer kullan.

Sensörden gelen "system_status" ve "self_test" verilerini düzenli kontrol ederek bağlantı kopmalarını erkenden tespit et ve lifecycle durumunu kullanarak yeniden bağlanmayı dene.

Veri Dönüşümü: Ham verileri Quaternion ve Covariance matrisleri dahil olacak şekilde standart IMU mesaj formatına uygun hale getir.

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