ROS2 example of SONY spresense multi-imu addon board

This repository contains pwbimu_logger wrapper code, just for testing, not for production.

Before run this, bake the example at https://github.com/sonydevworld/spresense/tree/master/examples/cxd5602pwbimu_logger.

Run

Install serial python library beforehand, like:

sudo apt install python3-serial

Clone this repository into your ros2 workspace, like:

cd ~/colcon_ws/src
git clone https://github.com/vrano714/spr-imu-ros.git spr_imu

Build

cd ~/colcon_ws
colcon build --symlink-install --packages-select spr_imu

Run

(Tested only in ROS2 Galactic)

source ~/colcon_ws/install/setup.bash
ros2 launch spr_imu imu.launch.xml

When successfully running, imu timecode should be shown on your terminal and you can check its output in /imu/raw topic (by default, changable).

Change settings

Configuring launch/imu.launch.xml as you like.

Compatible values are same as those of pwbimu_logger.