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ros_icm20948

A ROS node for communicating with the ICM20948 9DOF IMU.

Description

The node communicates with the ICM20948 via i2c on the Raspberry Pi using Sparkfun's Python library: https://github.com/sparkfun/Qwiic_9DoF_IMU_ICM20948_Py. The i2c address is preset to 0x69 which is the default. The data is stored in the following:

  • Accelerometer and Gyroscope (sensor_msgs/Imu): icm20948/raw
  • Magnometer (sensor_msgs/MagneticField): icm20948/mag
  • Temperature (sensor_msgs/Temperature): icm20948/temp
  • Diagnostics (diagnostic_msgs/DiagnosticStatus): icm20948/status

Installation Instructions

  • Enable i2c 
    sudo apt-get install i2c-tools
i2cdetect -l
  • Add i2c-devl to boot with sudo nano /etc/modules-load.d/modules.conf
  • Install wiringpi sudo apt install wiringpi
  • Connect i2c devices to Sparkfun Qwiic hat and run i2cdetect -y 1 to identify channels
  • Install driver for ICM20948 IMU: sudo pip3 install sparkfun-qwiic-icm20948.
  • Install ahrs 
    sudo apt-get update
sudo apt-get install python3-scipy
pip3 install ahrs

Running the Node

  • Option 1: rosrun ros_icm20948 talker.py
  • Option 2: roslaunch launches/icm20948.launch

Tested Setup

It should work on other versions but Python 3 is a requirement.

  • Platform: Raspberry Pi 4
  • OS: Ubuntu MATE 20.04
  • ROS: Noetic
  • Python: 3.8.5