ROS2 version

CMakeLists.txt

@@ -1,75 +1,73 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.8)
 project(mpu6050_driver)
 
-add_compile_options(-std=c++11)
-# add_definitions(-Wall -Werror)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-set(CATKIN_DEPS 
-  # diagnostic_msgs
-  roscpp
-  sensor_msgs
-  i2c_device_ros
-)
-
-find_package(catkin REQUIRED COMPONENTS ${CATKIN_DEPS})
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(cmake_modules REQUIRED)
-
-catkin_package(
- INCLUDE_DIRS include
- CATKIN_DEPENDS ${CATKIN_DEPS}
- DEPENDS Eigen
-)
 
 include_directories(
   include
-  ${catkin_INCLUDE_DIRS}
   ${Eigen3_INCLUDE_DIRS}
 )
 
-set(MPU6050_NODE_LIB mpu6050_node_lib)
-add_library(${MPU6050_NODE_LIB}
+# Define library target
+add_library(mpu6050_node_lib
   src/mpu6050_node.cpp
   src/mpu6050.cpp
+  src/i2c_device.cpp
 )
+ament_target_dependencies(mpu6050_node_lib rclcpp sensor_msgs)
 
-add_executable(mpu6050_node 
-  src/main.cpp
-)
+# Link against ROS 2 libraries
+# target_link_libraries(mpu6050_node_lib
+#   ${rclcpp_LIBRARIES}
+# )
 
-target_link_libraries(mpu6050_node
-  ${catkin_LIBRARIES}
-  ${MPU6050_NODE_LIB}
-)
+# Define executable targets
+add_executable(mpu6050_node src/main.cpp)
+ament_target_dependencies(mpu6050_node rclcpp sensor_msgs)
+target_link_libraries(mpu6050_node mpu6050_node_lib)
 
-add_executable(mpu6050_calibration_node 
-  src/main_calibration.cpp
-  src/mpu6050_calibration_node.cpp
-)
+add_executable(mpu6050_calibration_node src/main_calibration.cpp src/mpu6050_calibration_node.cpp)
+ament_target_dependencies(mpu6050_calibration_node rclcpp sensor_msgs)
+target_link_libraries(mpu6050_calibration_node mpu6050_node_lib)
 
-target_link_libraries(mpu6050_calibration_node
-  ${catkin_LIBRARIES}
-  ${MPU6050_NODE_LIB}
+ament_export_targets(export_${PROJECT_NAME})
+# Install targets
+install(
+  TARGETS mpu6050_node mpu6050_calibration_node mpu6050_node_lib
+  EXPORT export_${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME}
 )
 
-# install(TARGETS ${PROJECT_NAME}_node
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+# Install targets
+# install(TARGETS
+#   mpu6050_node
+#   mpu6050_calibration_node
+#   mpu6050_node_lib
+#   DESTINATION lib/${PROJECT_NAME})
 
-# install(TARGETS ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
+install(DIRECTORY include/
+  DESTINATION include)
 
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
+# Uncomment if you have package specific launch files, config files or other files to install
+install(DIRECTORY
+  launch
+  config
+  DESTINATION share/${PROJECT_NAME}
+)
 
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
+# Export dependencies
+ament_export_include_directories(include)
+ament_export_libraries(mpu6050_node_lib)
+ament_export_dependencies(rclcpp sensor_msgs Eigen3)
+
+ament_package()

README.md

@@ -1,7 +1,7 @@
 # MPU6050 Driver
 
 # Overview
-This is a ROS package to use the MPU6050 IMU sensor on platforms with Raspberry
+This is a ROS2 package to use the MPU6050 IMU sensor on platforms with Raspberry
 boards. The package was developed to be used in the [Doogie Mouse robot]. The
 sensor libraries were adapted from the [Arduino Library] of MPU6050 sensor.
 
@@ -10,48 +10,36 @@ sensor libraries were adapted from the [Arduino Library] of MPU6050 sensor.
 ## License
 The source code is released under a [MIT license](LICENSE).
 
-**Author:** Mateus Meneses  
+**Authors:** Mateus Meneses, Mohamed Abdelkader ([email protected])  
 **Maintainer:** Mateus Meneses, [email protected]
 
-The MPU6050 Driver package has been tested under [ROS] Kinetic and [Raspbian Jessie].
+The barnch `ros2_humble` has been tested under [ROS] `humble` and [Raspberry Pi Bookworm] .
 This is research code, expect that it changes often and any fitness for a
 particular purpose is disclaimed.
 
 # Installation
 
 ## Dependencies
 
-- [Robot Operating System (ROS)](http://wiki.ros.org) (Middleware for robotics),
-- [i2c_device_ros] (C++ library to read/write from/to I2C devices)
+- [Robot Operating System (ROS)](http://wiki.ros.org) (Middleware for robotics)
 
 ## Building
 
-The first step to build this package is install its dependency. To that, clone
-the [i2c_device_ros] package into your workspace
+Now, clone the latest version from this repository into your ROS workspace
 
 ```sh
 $ cd <YOUR_WS>/src
-$ git clone https://github.com/mateusmenezes95/i2c_device_ros.git
-```
-
-Now, clone the latest version from this repository into your catkin workspace
-
-```sh
-$ cd <YOUR_WS>/src
-$ git clone https://github.com/mateusmenezes95/mpu6050_driver.git
+$ git clone -b ros2_humble https://github.com/mateusmenezes95/mpu6050_driver.git
 $ cd ../
 ```
 
 Then, to build the package you could use two options:
 
 - pure catkin
 ```sh
-$ catkin_make -DCATKIN_WHITELIST_PACKAGES="mpu6050_driver;i2c_device_ros;
-```
-- catkin tool
-```sh
-$ catkin build mpu6050_driver
+$ colcon build
 ```
+
 # Usage
 
 ## Calibration Process
@@ -64,7 +52,7 @@ sensor on its final place on your robot (this is strongly important!) and then
 run the calibration node:
 
 ```sh
-$ roslaunch mpu6050_driver mpu6050_calibration.launch
+$ ros2 launch mpu6050_driver mpu6050_calibration.launch.py
 ```
 
 The process will take a few minutes to finish. While that, you can see the IMU
@@ -73,13 +61,13 @@ registers in the topic "imu_offsets". In a new terminal, you can see the imu
 messages runnig
 
 ```sh
-$ rostopic echo /imu -c
+$ ros2 topic echo /imu/data_raw
 ```
 
 and the offsets running on a new terminal
 
 ```sh
-$ rostopic echo /imu_offsets -c
+$ ros2 topic echo /imu_offsets
 ```
 
 You'll see the angular velocity and linear acceleration values converging to
@@ -96,7 +84,7 @@ config file.
 After to calibrate the MPU sensor, you can run the main node with
 
 ```sh
-$ roslaunch mpu6050_driver mpu6050_driver.launch
+$ ros2 launch mpu6050_driver mpu6050_driver.launch.py
 ```
 
 # Config files
@@ -106,10 +94,10 @@ and main node
 
 # Launch files
 
-* **[mpu6050_calibration.launch](launch/mpu6050_calibration.launch):** Launch the
+* **[mpu6050_calibration.launch.py](launch/mpu6050_calibration.launch.py):** Launch the
 calibration node
 
-* **[mpu6050_driver.launch](launch/mpu6050_driver.launch):** Launch the main node
+* **[mpu6050_driver.launch.py](launch/mpu6050_driver.launch.py):** Launch the main node
 
 # Nodes
 
@@ -118,7 +106,7 @@ calibration node
 Publish the MPU6050 data
 
 ### Published Topics
-* **`/imu`** ([sensor_msgs/IMU])
+* **`/imu/data_raw`** ([sensor_msgs/IMU])
 Imu data with the values from MPU6050 accelerometer and gyroscope
 
 ### Parameters
@@ -149,6 +137,5 @@ Please report bugs and request features using the
 [Doogie Mouse robot]: https://github.com/Brazilian-Institute-of-Robotics/doogie
 [Arduino Library]: https://github.com/ElectronicCats/mpu6050
 [Raspbian Jessie]: https://www.raspberrypi.org/downloads/raspbian/
-[i2c_device_ros]: https://github.com/Brazilian-Institute-of-Robotics/i2c_device_ros
 [The MPU6050 Explained]: https://mjwhite8119.github.io/Robots/mpu6050
 [mpu_settings.yaml]: config/mpu_settings.yaml

config/mpu_settings.yaml

@@ -1,23 +1,26 @@
-# I2C Bus URI used to comunicate with I2C devices (default: "/dev/i2c-1")
-bus_uri: "/dev/i2c-1"
+# ROS2 parameter file format
+mpu6050_node:
+  ros__parameters:
+    # I2C Bus URI used to communicate with I2C devices
+    bus_uri: "/dev/i2c-1"
 
-# I2C address of MPU6050 (default: 0x68)
-mpu_address: 0x68
+    # I2C address of MPU6050
+    mpu_address: 0x68
 
-# Frequency in Hertz wich IMU data is published (default: 30)
-pub_rate: 25
+    # Frequency in Hertz which IMU data is published
+    pub_rate: 400.0
 
-# Frame if of IMU message (default: "imu")
-frame_id: "imu"
+    # Frame id of IMU message
+    frame_id: "imu"
 
-# Offsets to fix wrong values caused by misalignment
-# Sequence is (ax, ay, az, gx, gy, gz) (default: [0, 0, 0, 0, 0, 0])
-axes_offsets: [-1987, 44, 1210, 75, -10, 7]
+    # Offsets to fix wrong values caused by misalignment
+    # Sequence is (ax, ay, az, gx, gy, gz)
+    axes_offsets: [-2589, -1383, 1628, -20, -34, 53]
 
-# PID constants used in calibration procedure
-ki: 0.2 # (default: 0.1)
-kp: 0.1 # (default: 0.1)
+    # PID constants used in calibration procedure
+    ki: 0.2
+    kp: 0.1
 
-# The calibration process is finished when the error is aproximate zero with
-# the precision set by delta (default: 0.5) 
-delta: 0.5
+    # The calibration process is finished when the error is approximate zero with
+    # the precision set by delta
+    delta: 0.5

config/mpu_settings_calib.yaml

@@ -0,0 +1,26 @@
+# ROS2 parameter file format
+mpu_calibration_node:
+  ros__parameters:
+    # I2C Bus URI used to communicate with I2C devices
+    bus_uri: "/dev/i2c-1"
+
+    # I2C address of MPU6050
+    mpu_address: 0x68
+
+    # Frequency in Hertz which IMU data is published
+    pub_rate: 100.0
+
+    # Frame id of IMU message
+    frame_id: "imu"
+
+    # Offsets to fix wrong values caused by misalignment
+    # Sequence is (ax, ay, az, gx, gy, gz)
+    axes_offsets: [-1987, 44, 1210, 75, -10, 7]
+
+    # PID constants used in calibration procedure
+    ki: 0.2
+    kp: 0.1
+
+    # The calibration process is finished when the error is approximate zero with
+    # the precision set by delta
+    delta: 0.5