csvance / lsm9ds0

ROS LSM9DS0 IRQ/FIFO Node

lsm9ds0

IRQ/FIFO based LSM9DS0 ROS Node

Requires connecting the DRDY (data ready) signal of the LSM9DS0 to a GPIO, and the ROS node must have permission to access the pin in /sys/class/gpio. It is a good idea to pre-export the pin in /etc/rc.local:

echo 17 > /sys/class/gpio/export
chmod 777 /sys/class/gpio/gpio17/*

Nodes

lsm9ds0_node.py

Parameters

Param	Type	Description
i2c_bus_num	int	i2c device bus number. For /dev/i2c-1, set to 1
calibrate	bool	Whether to calibrate the gyroscope on startup
gpio_int_pin_num	int	/sys/class/gpio GPIO number to receive the data ready interupt on
gyro_cal_x	float	gyroscope x axis bias
gyro_cal_y	float	gyroscope y axis bias
gyro_cal_z	float	gyroscope z axis bias

Topics

Action	Topic	Type
publish	/imu/data_raw	sensor_msgs/Imu
publish	/imu/mag	sensor_msgs/MagneticField

lsm9ds0's Issues

Error when running

Exception in thread Thread-4:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 801, in __bootstrap_inner
self.run()
File "/usr/lib/python2.7/threading.py", line 754, in run
self.__target(*self.__args, **self.__kwargs)
File "/home/user/new_imu_ws/src/lsm9ds0/src/lsm9ds0.py", line 269, in _main_loop
raise ValueError("Could not detect I2C device")
ValueError: Could not detect I2C device