`isaac_ros_imu_bmi088`#

Source code available on GitHub.

https://gitlab-master.nvidia.com/isaac/isaac/-/raw/release-4.3/docs/nvidia-isaac-ros//resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nova/bosch_bmi088.png/

Overview#

An IMU provides raw inertial data using an accelerometer and gyroscope as part of a perception for understanding of the robot and its environment.

The isaac_ros_imu_bmi088 driver provides support for BMI088 IMU that provides a high-performance 6-axis inertial sensor that allows for highly accurate measurement of orientation and detection of motion along three orthogonal axes.

Quickstart#

Set Up Development Environment#

Set up your development environment by following the instructions in getting started.
(Optional) Install dependencies for any sensors you want to use by following the sensor-specific guides.

Note

We strongly recommend installing all sensor dependencies before starting any quickstarts. Some sensor dependencies require restarting the development environment during installation, which will interrupt the quickstart process.

Build `isaac_ros_imu_bmi088`#

Launch the Docker container using the run_dev.py script:

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.py

Install the prebuilt Debian package:

NVIDIA Internal: Run these commands to add the internal apt repository:

sudo apt install curl -y
k="/usr/share/keyrings/nvidia-isaac-ros.gpg"
curl -fsSL https://isaac.download.nvidia.com/isaac-ros/repos.key | sudo gpg --dearmor | sudo tee -a $k > /dev/null
f="/etc/apt/sources.list.d/nvidia-isaac-ros.list" && sudo touch $f
s="deb [signed-by=$k] https://urm.nvidia.com/artifactory/sw-isaac-staging-debian-local jammy release-3.3"
grep -qxF "$s" $f || echo "$s" | sudo tee -a $f

pin_content=$'package: *\nPin: origin isaac.download.nvidia.com\nPin-Priority: 400'
echo "$pin_content" | sudo tee /etc/apt/preferences.d/isaac-ros

sudo apt-get update

sudo apt-get install -y ros-humble-isaac-ros-imu-bmi088

Clone this repository under ${ISAAC_ROS_WS}/src:

cd ${ISAAC_ROS_WS}/src && \
   git clone -b release-3.3 git@github.com:NVIDIA-ISAAC-ROS/validation-isaac_ros_nova.git isaac_ros_nova

Launch the Docker container using the run_dev.py script:

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.py

Use rosdep to install the package’s dependencies:

NVIDIA Internal: Run these commands to add the internal apt repository:

sudo apt install curl -y
k="/usr/share/keyrings/nvidia-isaac-ros.gpg"
curl -fsSL https://isaac.download.nvidia.com/isaac-ros/repos.key | sudo gpg --dearmor | sudo tee -a $k > /dev/null
f="/etc/apt/sources.list.d/nvidia-isaac-ros.list" && sudo touch $f
s="deb [signed-by=$k] https://urm.nvidia.com/artifactory/sw-isaac-staging-debian-local jammy release-3.3"
grep -qxF "$s" $f || echo "$s" | sudo tee -a $f

pin_content=$'package: *\nPin: origin isaac.download.nvidia.com\nPin-Priority: 400'
echo "$pin_content" | sudo tee /etc/apt/preferences.d/isaac-ros

sudo apt-get update

rosdep update && rosdep install --from-paths ${ISAAC_ROS_WS}/src/isaac_ros_nova/isaac_ros_imu_bmi088 --ignore-src -y

Build the package from source:

cd ${ISAAC_ROS_WS} && \
   colcon build --symlink-install --packages-up-to isaac_ros_imu_bmi088 --base-paths ${ISAAC_ROS_WS}/src/isaac_ros_nova/isaac_ros_imu_bmi088

Source the ROS workspace:

Note

Make sure to repeat this step in every terminal created inside the Docker container.

Because this package was built from source, the enclosing workspace must be sourced for ROS to be able to find the package’s contents.
```
source install/setup.bash
```

Run Launch File#

Continuing inside the Docker container, launch the BMI088 driver:
```
ros2 launch isaac_ros_imu_bmi088 bmi088.launch.py
```

Visualize Results#

Open a new terminal inside the Docker container:

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
   ./scripts/run_dev.py

Echo the IMU data:
```
ros2 topic echo /imu/imu
```

Troubleshooting#

Isaac ROS Troubleshooting#

For solutions to problems with Isaac ROS, see troubleshooting.

API#

Usage#

ros2 launch isaac_ros_imu_bmi088 bmi088.launch.py target_container:=<Target Container> namespace:=<Namespace> bmi_id:=<BMI ID> imu_frequency:=<IMU Frequency> ptp_dev_file:=<PTP Dev Name>

Bmi088Node#

ROS Parameters#

ROS Parameter	Type	Default	Description
`imu_frequency`	`uint`	`100`	IMU(Accelerometer and Gyroscope) Update Frequency (Hz)
`bmi_id`	`uint`	`69`	ID selecting which BMI088 IMU to use

ROS Topics Subscribed#

ROS Topic	Interface	Description
`correlated_timestamp`	isaac_ros_nova_interfaces::msg::CorrelatedTimestamp	Timestamp correlation data.

ROS Topics Published#

ROS Topic	Interface	Description
`imu`	sensor_msgs/Imu	The IMU data from BMI088.

isaac_ros_imu_bmi088#