This a module for the micro_rosso system.

It provides support for the MPU6050 IMU by publishing ROS2 topics.

First, import the module into your project's platformio.ini:

lib_deps =
    ...
    https://github.com/xopxe/micro_rosso_mpu6050.git

Then, in your main.cpp:

...
#include "micro_rosso_mpu6050.h"
ImuMPU6050 imu;
...
void setup() {
  Wire.begin(I2C_SDA, I2C_SCL); // initialize I2C as needed
  ...
  imu.setup(Wire);
  ...
}

The setup method allows passing optional topic names and a different micro_rosso timer to change the publication rate (by default, it uses the 5Hz timer). It is declared as follows:

  static bool setup(TwoWire &wire = Wire,
                    const char *topic_raw = "/imu/raw",
                    const char *topic_temp = "/imu/temperature",
                    timer_descriptor &timer = micro_rosso::timer_report);

The module emits the following topics:

• raw imu: sensor_msgs/msg/imu)
• temperature: sensor_msgs/msg/temperature

jvisca@fing.edu.uy - Grupo MINA, Facultad de Ingeniería - Udelar, 2024

MIT