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Commit d5a6f6cf authored by Sergi Hernandez's avatar Sergi Hernandez
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Merge branch 'kinetic_migration' into 'master' 

Kinetic migration

See merge request !1
parents d884e660 d6603428
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1 merge request!1Kinetic migration
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CMakeLists.txt
+ 5
− 1
View file @ d5a6f6cf
cmake_minimum_required(VERSION 2.8.3)
project(bno055_imu)
project(iri_bno055_imu_driver)
## Find catkin macros and libraries
find_package(catkin REQUIRED)
......@@ -15,6 +15,7 @@ find_package(catkin REQUIRED COMPONENTS iri_base_driver sensor_msgs)
# Add system and labrobotica dependencies here
# ********************************************************************
find_package(iriutils REQUIRED)
find_package(comm REQUIRED)
find_package(bno055_imu_driver REQUIRED)
# find_package(<dependency> REQUIRED)
......@@ -79,6 +80,7 @@ catkin_package(
include_directories(include)
include_directories(${catkin_INCLUDE_DIRS})
include_directories(${iriutils_INCLUDE_DIR})
include_directories(${comm_INCLUDE_DIR})
include_directories(${bno055_imu_driver_INCLUDE_DIR})
# include_directories(${<dependency>_INCLUDE_DIR})
......@@ -93,6 +95,7 @@ add_executable(${PROJECT_NAME} src/bno055_imu_ros_driver.cpp src/bno055_imu_ros_
# ********************************************************************
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${iriutils_LIBRARY})
target_link_libraries(${PROJECT_NAME} ${comm_LIBRARY})
target_link_libraries(${PROJECT_NAME} ${bno055_imu_driver_LIBRARY})
# target_link_libraries(${PROJECT_NAME} ${<dependency>_LIBRARY})
......@@ -101,6 +104,7 @@ target_link_libraries(${PROJECT_NAME} ${bno055_imu_driver_LIBRARY})
# ********************************************************************
# add_dependencies(${PROJECT_NAME} <msg_package_name>_generate_messages_cpp)
add_dependencies(${PROJECT_NAME} sensor_msgs_generate_messages_cpp)
add_dependencies(${PROJECT_NAME}_gencfg iri_base_driver_generate_messages_cpp)
# ********************************************************************
# Add dynamic reconfigure dependencies
# ********************************************************************
......
calibration/bno055.cal deleted 100644 → 0
+ 0
− 0
View file @ d884e660
File deleted
cfg/Bno055Imu.cfg
+ 105
− 3
View file @ d5a6f6cf
......@@ -31,19 +31,121 @@
# Author:
PACKAGE='bno055_imu'
PACKAGE='iri_bno055_imu_driver'
from driver_base.msg import SensorLevels
from iri_base_driver.msg import SensorLevels
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
enum_operation_mode = gen.enum([
gen.const("accel_only", int_t, 1, "Only enable the accelerometer"),
gen.const("mag_only", int_t, 2, "Only enable the magnetometer"),
gen.const("gyro_only", int_t, 3, "Only enable the gyroscope"),
gen.const("accel_mag", int_t, 4, "Enable both accelerometer and magnetometer"),
gen.const("accel_gyro", int_t, 5, "Enable both accelerometer and gyroscope"),
gen.const("mag_gyro", int_t, 6, "Enable both magnetometer and gyroscope"),
gen.const("accel_mag_gyro", int_t, 7, "Enable all sensors"),
gen.const("imu", int_t, 8, "IMU"),
gen.const("compass", int_t, 9, "Compass"),
gen.const("m4g", int_t, 10, "M4G"),
gen.const("ndof_off", int_t, 11, "ndof off"),
gen.const("ndof", int_t, 12, "ndof")
], "Possible operation modes.")
accel = gen.add_group("Accelerometer")
accel_range = gen.enum([
gen.const("2G", int_t, 0, "+/- 2G"),
gen.const("4G", int_t, 1, "+/- 4G"),
gen.const("8G", int_t, 2, "+/- 8G"),
gen.const("16G", int_t, 3, "+/- 16G")
], "Accelerometer ranges.")
accel_bw = gen.enum([
gen.const("7_81Hz", int_t, 0, "7.81Hz"),
gen.const("15_63Hz", int_t, 4, "15.63Hz"),
gen.const("32_25Hz", int_t, 8, "32.25Hz"),
gen.const("62_5Hz", int_t, 12, "62.5Hz"),
gen.const("125Hz", int_t, 16, "125Hz"),
gen.const("250Hz", int_t, 20, "250Hz"),
gen.const("500Hz", int_t, 24, "500Hz"),
gen.const("1000Hz", int_t, 28, "1000Hz")
], "Accelerometer bandwidth.")
accel_pwr_mode = gen.enum([
gen.const("accel_normal", int_t, 0, "Normal"),
gen.const("accel_suspend", int_t, 32, "Suspend"),
gen.const("accel_low_pwr1", int_t, 64, "Low power 1"),
gen.const("accel_standby", int_t, 96, "Stand by"),
gen.const("accel_low_pwr2", int_t, 128, "Low power 2"),
gen.const("accel_deep_suspend", int_t, 160, "Seep suspend")
], "Accelerometer power modes.")
gyro = gen.add_group("Gyroscope")
gyro_range = gen.enum([
gen.const("2000dps", int_t, 0, "+/- 2000 dps"),
gen.const("1000dps", int_t, 1, "+/- 1000 dps"),
gen.const("500dps", int_t, 2, "+/- 500 dps"),
gen.const("250dps", int_t, 3, "+/- 250 dps"),
gen.const("124dps", int_t, 4, "+/- 125 dps")
], "Gyroscope ranges.")
gyro_bw = gen.enum([
gen.const("523Hz", int_t, 0, "523Hz"),
gen.const("230Hz", int_t, 8, "230Hz"),
gen.const("116Hz", int_t, 16, "116Hz"),
gen.const("47Hz", int_t, 24, "47Hz"),
gen.const("23Hz", int_t, 32, "23Hz"),
gen.const("12Hz", int_t, 40, "12Hz"),
gen.const("64Hz", int_t, 48, "64Hz"),
gen.const("32Hz", int_t, 56, "32Hz")
], "Gyroscope bandwidth.")
gyro_pwr_mode = gen.enum([
gen.const("gyro_normal", int_t, 0, "Normal"),
gen.const("gyro_fast_pwr_up", int_t, 1, "Fast power up"),
gen.const("gyro_deep_suspend", int_t, 2, "Deep suspend"),
gen.const("gyro_suspend", int_t, 3, "Suspend"),
gen.const("gyro_adv_pwr_save", int_t, 4, "Advanced power save"),
], "Gyroscope power modes.")
mag = gen.add_group("Magnetometer")
mag_rate = gen.enum([
gen.const("2Hz", int_t, 0, "2 Hz"),
gen.const("6Hz", int_t, 1, "6 Hz"),
gen.const("8Hz", int_t, 2, "8 Hz"),
gen.const("10Hz", int_t, 3, "10 Hz"),
gen.const("15Hz", int_t, 4, "15 Hz"),
gen.const("20Hz", int_t, 5, "20 Hz"),
gen.const("25Hz", int_t, 6, "25 Hz"),
gen.const("30Hz", int_t, 7, "30 Hz")
], "Magnetometer rates.")
mag_op_mode = gen.enum([
gen.const("low_pwr", int_t, 0, "Low power"),
gen.const("regular", int_t, 8, "Regular"),
gen.const("en_regular", int_t, 16, "Enhanced regular"),
gen.const("high_acc", int_t, 24, "High accuracy")
], "Magnetometer operation moes.")
mag_pwr_mode = gen.enum([
gen.const("mag_normal", int_t, 0, "Normal"),
gen.const("mag_sleep", int_t, 32, "Sleep"),
gen.const("mag_suspend", int_t, 64, "Suspend"),
gen.const("mag_force_mode", int_t, 96, "Force mode"),
], "Magnetometer power modes.")
# Name Type Reconfiguration level Description Default Min Max
gen.add("update_rate", double_t, SensorLevels.RECONFIGURE_STOP, "Data update rate in Hz", 20.0, 1.0, 100.0)
gen.add("serial_device", str_t, SensorLevels.RECONFIGURE_STOP, "Device serial port", "/dev/ttyUSB0")
gen.add("serial_device", str_t, SensorLevels.RECONFIGURE_CLOSE, "Device serial port", "/dev/ttyUSB1")
gen.add("cal_filename", str_t, SensorLevels.RECONFIGURE_STOP, "Sensor calibration data", "")
gen.add("tf_prefix", str_t, SensorLevels.RECONFIGURE_STOP, "TF prefix", "")
gen.add("frame_id", str_t, SensorLevels.RECONFIGURE_STOP, "IMU frame_id in the urdf file", "")
gen.add("mode", int_t, SensorLevels.RECONFIGURE_STOP, "Operation mode", 12, 1, 12, edit_method=enum_operation_mode)
accel.add("accel_range", int_t, SensorLevels.RECONFIGURE_STOP, "Accelerometer operation range", 1, 0, 3, edit_method=accel_range)
accel.add("accel_bandwidth", int_t, SensorLevels.RECONFIGURE_STOP, "Accelerometer bandwidth", 12, 0, 28, edit_method=accel_bw)
accel.add("accel_pwr_mode", int_t, SensorLevels.RECONFIGURE_STOP, "Accelerometer power mode", 0, 0, 160, edit_method=accel_pwr_mode)
gyro.add("gyro_range", int_t, SensorLevels.RECONFIGURE_STOP, "Gyroscope operation range", 0, 0, 4, edit_method=gyro_range)
gyro.add("gyro_bandwidth", int_t, SensorLevels.RECONFIGURE_STOP, "Gyroscope bandwidth", 56, 0, 56, edit_method=gyro_bw)
gyro.add("gyro_pwr_mode", int_t, SensorLevels.RECONFIGURE_STOP, "Gyroscope power mode", 0, 0, 4, edit_method=gyro_pwr_mode)
gyro.add("mag_rate", int_t, SensorLevels.RECONFIGURE_STOP, "Magnetometer rate", 3, 0, 7, edit_method=mag_rate)
gyro.add("mag_op_mode", int_t, SensorLevels.RECONFIGURE_STOP, "Magnetometer operation mode", 1, 0, 24, edit_method=mag_op_mode)
gyro.add("mag_pwr_mode", int_t, SensorLevels.RECONFIGURE_STOP, "Magnetometer power mode", 0, 0, 96, edit_method=mag_pwr_mode)
#gen.add("velocity_scale_factor", double_t, SensorLevels.RECONFIGURE_STOP, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
exit(gen.generate(PACKAGE, "Bno055ImuDriver", "Bno055Imu"))
include/bno055_imu_ros_driver.h
+ 6
− 2
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......@@ -26,7 +26,7 @@
#define _bno055_imu_driver_h_
#include <iri_base_driver/iri_base_driver.h>
#include <bno055_imu/Bno055ImuConfig.h>
#include <iri_bno055_imu_driver/Bno055ImuConfig.h>
//include bno055_imu_driver main library
#include "bno055_imu_driver.h"
......@@ -64,7 +64,7 @@ class Bno055ImuDriver : public iri_base_driver::IriBaseDriver
* Define a Config type with the Bno055ImuConfig. All driver implementations
* will then use the same variable type Config.
*/
typedef bno055_imu::Bno055ImuConfig Config;
typedef iri_bno055_imu_driver::Bno055ImuConfig Config;
/**
* \brief config variable
......@@ -148,10 +148,14 @@ class Bno055ImuDriver : public iri_base_driver::IriBaseDriver
// here define all bno055_imu_driver interface methods to retrieve and set
// the driver parameters
std::string get_new_data_event_id(void);
op_mode_t get_operation_mode(void);
std::vector<double> get_orientation_quat(void);
std::vector<double> get_orientation_euler(void);
std::vector<double> get_linear_accel(void);
std::vector<double> get_gravity(void);
std::vector<double> get_raw_accelerometer(void);
std::vector<double> get_raw_magnetometer(void);
std::vector<double> get_raw_gyroscope(void);
bool is_imu_calibrated(void);
std::string get_frame_id(void);
/**
......
include/bno055_imu_ros_driver_node.h
+ 4
− 0
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......@@ -29,6 +29,7 @@
#include "bno055_imu_ros_driver.h"
// [publisher subscriber headers]
#include <sensor_msgs/MagneticField.h>
#include <sensor_msgs/Imu.h>
// [service client headers]
......@@ -58,6 +59,9 @@ class Bno055ImuDriverNode : public iri_base_driver::IriBaseNodeDriver<Bno055ImuD
{
private:
// [publisher attributes]
ros::Publisher magnetometer_publisher_;
sensor_msgs::MagneticField magnetometer_MagneticField_msg_;
ros::Publisher imu_publisher_;
sensor_msgs::Imu imu_Imu_msg_;
......
launch/bno055_imu.launch deleted 100644 → 0
+ 0
− 16
View file @ d884e660
<launch>
<!-- launch the action client node -->
<node name="bno055_imu"
pkg="bno055_imu"
type="bno055_imu"
output="screen">
<param name="update_rate" value="1"/>
<param name="serial_device" value="/dev/ttyUSB1"/>
<param name="cal_filename" value="$(find bno055_imu)/calibration/bno055.cal"/>
<param name="tf_prefix" value=""/>
<param name="frame_id" value="imu"/>
</node>
</launch>
package.xml
+ 4
− 4
View file @ d5a6f6cf
<?xml version="1.0"?>
<package>
<name>bno055_imu</name>
<name>iri_bno055_imu_driver</name>
<version>0.0.0</version>
<description>The bno055_imu package</description>
<description>The iri_bno055_imu_driver package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
......@@ -19,7 +19,7 @@
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/bno055_imu</url> -->
<!-- <url type="website">http://wiki.ros.org/iri_bno055_imu_driver</url> -->
<!-- Author tags are optional, mutiple are allowed, one per tag -->
......@@ -51,4 +51,4 @@
<!-- Other tools can request additional information be placed here -->
</export>
</package>
\ No newline at end of file
</package>
src/bno055_imu_ros_driver.cpp
+ 56
− 9
View file @ d5a6f6cf
......@@ -11,6 +11,7 @@ Bno055ImuDriver::Bno055ImuDriver(void)
bool Bno055ImuDriver::openDriver(void)
{
//setDriverId(driver string id);
this->lock();
if(this->imu_device!=NULL)
{
delete this->imu_device;
......@@ -19,6 +20,8 @@ bool Bno055ImuDriver::openDriver(void)
try{
this->imu_device=new CBNO055IMUDriver("BNO055_driver");
this->imu_device->open(this->config_.serial_device);
ROS_INFO("IMU successfully opened");
this->unlock();
return true;
}catch(CException &e){
if(this->imu_device!=NULL)
......@@ -27,32 +30,38 @@ bool Bno055ImuDriver::openDriver(void)
this->imu_device=NULL;
}
ROS_WARN_STREAM(e.what());
this->unlock();
return false;
}
}
bool Bno055ImuDriver::closeDriver(void)
{
this->lock();
if(this->imu_device!=NULL)
{
delete this->imu_device;
this->imu_device=NULL;
}
this->unlock();
return true;
}
bool Bno055ImuDriver::startDriver(void)
{
this->lock();
if(this->config_.cal_filename.size()>0)
{
try{
this->imu_device->set_operation_mode(config_mode);
this->imu_device->load_calibration(this->config_.cal_filename);
this->imu_device->set_operation_mode(ndof_mode);
this->imu_device->set_operation_mode((op_mode_t)this->config_.mode);
this->imu_device->set_data_rate(this->config_.update_rate);
this->unlock();
return true;
}catch(CException &e){
ROS_WARN_STREAM(e.what());
this->unlock();
return false;
}
}
......@@ -61,10 +70,12 @@ bool Bno055ImuDriver::startDriver(void)
try{
this->imu_device->set_operation_mode(config_mode);
this->imu_device->set_data_rate(this->config_.update_rate);
this->imu_device->set_operation_mode(ndof_mode);
this->imu_device->set_operation_mode((op_mode_t)this->config_.mode);
this->unlock();
return true;
}catch(CException &e){
ROS_WARN_STREAM(e.what());
this->unlock();
return false;
}
}
......@@ -72,10 +83,17 @@ bool Bno055ImuDriver::startDriver(void)
bool Bno055ImuDriver::stopDriver(void)
{
this->lock();
this->imu_device->set_operation_mode(config_mode);
this->unlock();
return true;
}
op_mode_t Bno055ImuDriver::get_operation_mode(void)
{
return (op_mode_t)this->config_.mode;
}
void Bno055ImuDriver::config_update(Config& new_cfg, uint32_t level)
{
this->lock();
......@@ -84,14 +102,19 @@ void Bno055ImuDriver::config_update(Config& new_cfg, uint32_t level)
// update driver with new_cfg data
switch(this->getState())
{
case Bno055ImuDriver::CLOSED:
this->frame_id=new_cfg.tf_prefix+"/"+new_cfg.frame_id;
case iri_base_driver::CLOSED:
break;
case Bno055ImuDriver::OPENED:
case iri_base_driver::OPENED:
this->imu_device->set_data_rate(new_cfg.update_rate);
this->frame_id=new_cfg.tf_prefix+"/"+new_cfg.frame_id;
// change configuration
this->imu_device->set_accel_config(new_cfg.accel_range,new_cfg.accel_bandwidth,new_cfg.accel_pwr_mode);
this->imu_device->set_gyro_config(new_cfg.gyro_range,new_cfg.gyro_bandwidth,new_cfg.gyro_pwr_mode);
this->imu_device->set_mag_config(new_cfg.mag_rate,new_cfg.mag_op_mode,new_cfg.mag_pwr_mode);
break;
case Bno055ImuDriver::RUNNING:
case iri_base_driver::RUNNING:
break;
}
......@@ -141,6 +164,30 @@ std::vector<double> Bno055ImuDriver::get_gravity(void)
return std::vector<double>();
}
std::vector<double> Bno055ImuDriver::get_raw_accelerometer(void)
{
if(this->imu_device!=NULL)
return this->imu_device->get_raw_accelerometer();
else
return std::vector<double>();
}
std::vector<double> Bno055ImuDriver::get_raw_magnetometer(void)
{
if(this->imu_device!=NULL)
return this->imu_device->get_raw_magnetometer();
else
return std::vector<double>();
}
std::vector<double> Bno055ImuDriver::get_raw_gyroscope(void)
{
if(this->imu_device!=NULL)
return this->imu_device->get_raw_gyroscope();
else
return std::vector<double>();
}
bool Bno055ImuDriver::is_imu_calibrated(void)
{
bool accel_cal,mag_cal,gyro_cal;
......@@ -159,11 +206,11 @@ bool Bno055ImuDriver::is_imu_calibrated(void)
else
{
if(!accel_cal)
ROS_WARN("Accelerometer not calibrated: Move the sensor slowly to six different positions and hold it steady for a few seconds");
ROS_DEBUG("Accelerometer not calibrated: Move the sensor slowly to six different positions and hold it steady for a few seconds");
if(!mag_cal)
ROS_WARN("Magnetometer no calibrated: Move the sensor randomly");
ROS_DEBUG("Magnetometer no calibrated: Move the sensor randomly");
if(!gyro_cal)
ROS_WARN("Gyroscope not calibrated: Hold the sensor steady at any position for a few seconds");
ROS_DEBUG("Gyroscope not calibrated: Hold the sensor steady at any position for a few seconds");
return false;
}
}catch(CException &e){
......
src/bno055_imu_ros_driver_node.cpp
+ 40
− 12
View file @ d5a6f6cf
......@@ -7,10 +7,11 @@ Bno055ImuDriverNode::Bno055ImuDriverNode(ros::NodeHandle &nh) :
unsigned int i;
//init class attributes if necessary
this->loop_rate_ = 500;//in [Hz]
this->setRate(500);//in [Hz]
// [init publishers]
this->imu_publisher_ = this->public_node_handle_.advertise<sensor_msgs::Imu>("imu", 1);
this->magnetometer_publisher_ = this->private_node_handle_.advertise<sensor_msgs::MagneticField>("magnetometer", 1);
this->imu_publisher_ = this->private_node_handle_.advertise<sensor_msgs::Imu>("imu", 1);
// [init subscribers]
......@@ -29,39 +30,67 @@ Bno055ImuDriverNode::Bno055ImuDriverNode(ros::NodeHandle &nh) :
this->imu_Imu_msg_.orientation_covariance[i]=0.0;
this->imu_Imu_msg_.angular_velocity_covariance[i]=0.0;
this->imu_Imu_msg_.linear_acceleration_covariance[i]=0.0;
this->magnetometer_MagneticField_msg_.magnetic_field_covariance[i]=0.0;
}
this->imu_Imu_msg_.angular_velocity_covariance[0]=-1.0;
}
void Bno055ImuDriverNode::mainNodeThread(void)
{
std::vector<double> quaternion,linear_accel;
std::vector<double> quaternion,linear_accel,mag,gyro,accel;
op_mode_t op_mode;
//lock access to driver if necessary
this->driver_.lock();
if(this->driver_.is_imu_calibrated())
this->driver_.lock();
if(this->driver_.getState()==iri_base_driver::RUNNING)
{
this->driver_.is_imu_calibrated();
try{
this->events.clear();
this->events.push_back(this->driver_.get_new_data_event_id());
this->event_server->wait_all(events,2000);
this->event_server->wait_all(events,100);
op_mode=this->driver_.get_operation_mode();
if(op_mode==mag_only_mode || op_mode==acc_mag_mode || op_mode==mag_gyro_mode || op_mode==acc_mag_gyro_mode || op_mode==compass_mode || op_mode==m4g_mode || op_mode==ndof_off_mode || op_mode==ndof_mode)
{
mag=this->driver_.get_raw_magnetometer();
this->magnetometer_MagneticField_msg_.header.stamp=ros::Time::now();
this->magnetometer_MagneticField_msg_.header.frame_id=this->driver_.get_frame_id();
this->magnetometer_MagneticField_msg_.magnetic_field.x=mag[0];
this->magnetometer_MagneticField_msg_.magnetic_field.y=mag[1];
this->magnetometer_MagneticField_msg_.magnetic_field.z=mag[2];
this->magnetometer_publisher_.publish(this->magnetometer_MagneticField_msg_);
}
quaternion=this->driver_.get_orientation_quat();
linear_accel=this->driver_.get_linear_accel();
accel=this->driver_.get_raw_accelerometer();
gyro=this->driver_.get_raw_gyroscope();
this->imu_Imu_msg_.header.stamp=ros::Time::now();
this->imu_Imu_msg_.header.frame_id=this->driver_.get_frame_id();
this->imu_Imu_msg_.orientation.x=quaternion[0];
this->imu_Imu_msg_.orientation.y=quaternion[1];
this->imu_Imu_msg_.orientation.z=quaternion[2];
this->imu_Imu_msg_.orientation.w=quaternion[3];
this->imu_Imu_msg_.linear_acceleration.x=linear_accel[0];
this->imu_Imu_msg_.linear_acceleration.y=linear_accel[1];
this->imu_Imu_msg_.linear_acceleration.z=linear_accel[2];
this->imu_Imu_msg_.angular_velocity.x=gyro[0];
this->imu_Imu_msg_.angular_velocity.y=gyro[1];
this->imu_Imu_msg_.angular_velocity.z=gyro[2];
if(op_mode>=imu_mode)
{
this->imu_Imu_msg_.linear_acceleration.x=linear_accel[0];
this->imu_Imu_msg_.linear_acceleration.y=linear_accel[1];
this->imu_Imu_msg_.linear_acceleration.z=linear_accel[2];
}
else
{
this->imu_Imu_msg_.linear_acceleration.x=accel[0];
this->imu_Imu_msg_.linear_acceleration.y=accel[1];
this->imu_Imu_msg_.linear_acceleration.z=accel[2];
}
this->imu_publisher_.publish(this->imu_Imu_msg_);
}catch(CException &e){
ROS_WARN_STREAM(e.what());
}
}
this->driver_.unlock();
// [fill msg Header if necessary]
......@@ -74,7 +103,6 @@ void Bno055ImuDriverNode::mainNodeThread(void)
// [publish messages]
//unlock access to driver if previously blocked
this->driver_.unlock();
}
/* [subscriber callbacks] */
......@@ -117,5 +145,5 @@ Bno055ImuDriverNode::~Bno055ImuDriverNode(void)
/* main function */
int main(int argc,char *argv[])
{
return driver_base::main<Bno055ImuDriverNode>(argc, argv, "bno055_imu_driver_node");
return iri_base_driver::main<Bno055ImuDriverNode>(argc, argv, "bno055_imu_driver_node");
}
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