avdhootu27 / mpu6050

ROS package to get "sensor_msgs/Imu" data from mpu6050 on Jetson Xavier NX

mpu6050-jetson-xavier-nx

This package is specifically designed to get orientation, angular velocity and linear acceleration data in the form of "sensor_msgs/Imu" from mpu6050 imu sensor on Nvidia's Jetson Xavier NX board with ROS.

The parameters assumed in the code :

• Gravity = 9.81m/s2
• Samples to calculate gyro offset = 3000
• Samples to calculate covariances = 1000
• Acceleration sesnitivity factor = 16384.0
• Gyroscope sensitivity factor = 131.0 (+/- 250 degree/sec)
• ROS distribution = Noetic

Instructions to use:

• Conenct mpu6050 sensor by i2c communication with jetson xavier. Make sure you connect it on i2c bus no. 8
• Update the pakcages.

sudo apt update

• Install i2c-dev library on jetson xavier.

sudo apt install libi2c-dev

• Launch mpu6050.launch file
• Keep MPU stationary until you see a ROS log 'Publishing on topic mpu6050/data' in the terminal
• Always keep MPU in the XY plane (parallel to ground)