Publishes IMU DMP sensor data from an MPU6050 connected to an I2C bus on a Raspberry Pi.
First install I2Cdevlib:
sudo mkdir -p /usr/share/arduino/libraries
cd /usr/share/arduino/libraries
sudo git clone https://github.com/chrisspen/i2cdevlib.git
Note the fork should be used for now, since jrowberg's i2cdevlib has several outstanding bugs and is unmaintained.
Then install Bcm2835:
cd /tmp
wget http://www.airspayce.com/mikem/bcm2835/bcm2835-1.50.tar.gz
tar zxvf bcm2835-1.50.tar.gz
cd bcm2835-1.50
./configure
make
make check
sudo make install
Then clone the project into your ROS workspace via:
git clone https://github.com/chrisspen/ros_mpu6050_node.git
And then compile it:
catkin_make --pkg ros_mpu6050_node
Since the Raspbian kernel and BCM2835 driver restrict I2C access to only the root user, you must launch the node as root like:
sudo bash -c "source /your/ros/path/setup.bash; roslaunch ros_mpu6050_node mpu6050.launch"
Assuming the device is properly wired, it should report "DMP ready!". Now you should be able to see the IMU stream with:
rostopic echo /imu/data
https://github.com/brNX/ros_mpu6050_node
https://github.com/matpalm/ros-mpu6050-node
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