SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Part of IRI-laboratory libraries. More information at https://gitlab.iri.upc.edu/labrobotica/labrobotica_how_to")
This is a C++ driver for the [BNO055 IMU](https://www.bosch-sensortec.com/products/smart-sensors/bno055.html) from Bosch. This driver implements all the features of the sensor, and provides support for all operation modes.
This is a driver library for a [bno055 imu sensor](https://www.bosch-sensortec.com/bst/products/all_products/bno055).
This driver provides a set of functions to configure and get the information provided by the sensor.
## Installation
* Add the labrobotica repository if it is not already added:
Copyright (C) 2009-2019 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
Mantainer IRI labrobotics (labrobotica@iri.upc.edu)
This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair or correction.
In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>
## For developers
<details><summary>click here</summary>
<p>
## Dependencies
This package requires of the following system libraries and packages
*[cmake](https://www.cmake.org"CMake's Homepage"), a cross-platform build system.
*[doxygen](http://www.doxygen.org"Doxygen's Homepage") and [graphviz](http://www.graphviz.org"Graphviz's Homepage") to generate the documentation.
* stdc++ and pthread libraries.
* [cmake](https://www.cmake.org "CMake's Homepage"), a cross-platform build system.
* [doxygen](http://www.doxygen.org "Doxygen's Homepage") and [graphviz](http://www.graphviz.org "Graphviz's Homepage") to generate the documentation.
* stdc++.
All this packages can be installed in Ubuntu using the apt-get install command.
Under linux all of these utilities are available in ready-to-use packages.
This package also requires of the following IRI libraries:
Under MacOS most of the packages are available via [fink](http://www.finkproject.org/ "Fink's Homepage")
*[iriutils](https://gitlab.iri.upc.edu/labrobotica/algorithms/iriutils), a library with basic tools developed a IRI.
*[comm](https://gitlab.iri.upc.edu/labrobotica/drivers/comm), a library with drivers for basic communication interfaces developed at IRI.
This package also requires of the following IRI libraries:
To install all these dependencies, follow the instructions on the corresponding links.
* [iriutils](https://gitlab.iri.upc.edu/labrobotica/algorithms/iriutils "iriutils gitlab page"), a set of basic tools.
* [comm](https://gitlab.iri.upc.edu/labrobotica/drivers/comm "comm gitlab page"), a set of drivers for standard communication devices.
## Compilation and installation
Download this repository and create a build folder inside:
Clone this repository and create a build folder inside:
``` mkdir build ```
...
...
@@ -39,7 +68,7 @@ The RELEASE build mode optimizes for speed. To build in this mode execute instea
The release mode will be kept until next time cmake is executed.
``` make ```
``` make -j $(nproc)```
In case no errors are reported, the generated libraries (if any) will be located at the
_lib_ folder and the executables (if any) will be located at the _bin_ folder.
...
...
@@ -49,9 +78,9 @@ To do that, execute
``` make install ```
as root and the shared libraries will be copied to */usr/local/lib/iridrivers* directory
and the header files will be copied to */usr/local/include/iridrivers* dierctory. At
this point, the library may be used by any user.
as root and the shared libraries will be copied to */usr/local/lib/iri/bno055_imu_driver* directory
and the header files will be copied to */usr/local/include/iri/bno055_imu_driver* dierctory.
At this point, the library may be used by any user.
To remove the library from the system, exceute
...
...
@@ -71,21 +100,16 @@ To use this library in an other library or application, in the CMakeLists.txt fi
In the case that the package is present, it is necessary to add the header files directory to the include directory path by using
Copyright (C) 2009-2018 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
Mantainer IRI labrobotics (labrobotica@iri.upc.edu)
This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair or correction.
In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>
There is an example called _bno055\_imu\_driver\_test_.
In this example the imu is calibrated and is printed on the terminal all the information received.
