mpu_6050_ros_driver

ROS driver for the MPU-6050 and MPU-9250 IMU

Both MPU-6050 and MPU-9250 sensors have been confirmed to be operational.

This project serves as a ROS driver for the MPU-6050 and MPU-9250 IMU sensors, and it has been tested to ensure the proper functionality of both sensors. The driver allows you to interface with and utilize data from these sensors seamlessly within a ROS (Robot Operating System) environment.

Project Description

This project demonstrates how to use NVIDIA's Jetson AGX Xavier board with 9-axis gyro sensors, specifically the MPU-9250 and MPU-6060, to read and utilize gyroscope and accelerometer data.

Requirements

• NVIDIA Jetson AGX Xavier board
• MPU-9250 or MPU-6050 gyro sensors

Connection

Connect the MPU-9250 and MPU-6060 gyro sensors to the Jetson AGX Xavier board.

Sensor Pin	Jetson AGX Xavier Pin
VCC	2
GND	6
SCL	28
SDA	27

Installation

To get started with the project, follow these steps:

1. git clone

git clone https://github.com/OpenSource-ubicomp/mpu_9250_driver.git

Test(option)

1. Install the adafruit-blinka library.

sudo apt-get update
sudo apt-get install python3-smbus
pip3 install adafruit-blinka

2. Move to that directory.

cd scripts

3. Run the code

python3 blinkatest.py

RUN

1. Move to directory

cd workspace

2. catkin_make

catkin_make

3. run

roslaunch mpu_6050_driver imu.launch