Removing limitations due to i2C implementation.

[elpidiovaldez]

I built the project, but I had a lot of problems with running the node. As stated in the readme, the node must be run with sudo due to the permissions required by bcm2835. As I understand it there are now many alternative I2C implementations that are more flexible.

I added the following files from Richard Hirst's MPU6050 github project in the same directory as mpu6050_node.cpp:

• helper_3dmath.h
• I2Cdev.cpp
• I2Cdev.h
• MPU6050.cpp
• MPU6050.h
• MPU6050_6Axis_MotionApps2.0.h

I edited CMakeLists to use the new files, and removed the I2C initialization call in mpu6050_node.cpp (line 322). This now allows the ROS node to be built without installing I2CDevLib or bcm2835 , and the node runs without sudo.

I think Richard's I2C implementation could be added to the ROS node project (with proper accreditation) and would allow it to be built simply by cloning and making, and used more easily, without sudo.

[disaacdan]

We are trying to implement this for an engineering senior capstone project and are all new working with ROS. Can you go into more detail on where you got the files from, and also how to edit the CMakeLists to use these new files? @elpidiovaldez

[zoldaten]

@elpidiovaldez hi !
could you provide CMakeLists ?