ros_icm20948

A ROS node for communicating with the ICM20948 9DOF IMU.

Description

The node communicates with the ICM20948 via i2c on the Raspberry Pi using Sparkfun's Python library: https://github.com/sparkfun/Qwiic_9DoF_IMU_ICM20948_Py. The i2c address is preset to 0x69 which is the default. The data is stored in the following:

• Accelerometer and Gyroscope (sensor_msgs/Imu): icm20948/raw
• Magnometer (sensor_msgs/MagneticField): icm20948/mag
• Temperature (sensor_msgs/Temperature): icm20948/temp
• Diagnostics (diagnostic_msgs/DiagnosticStatus): icm20948/status

Installation Instructions

• Enable i2c

  sudo apt-get install i2c-tools
  i2cdetect -l
  

• Add i2c-devl to boot with sudo nano /etc/modules-load.d/modules.conf
• Install wiringpi sudo apt install wiringpi
• Connect i2c devices to Sparkfun Qwiic hat and run i2cdetect -y 1 to identify channels
• Install driver for ICM20948 IMU: sudo pip3 install sparkfun-qwiic-icm20948.
• Install ahrs

  sudo apt-get update
  sudo apt-get install python3-scipy
  pip3 install ahrs
  

Running the Node

• Option 1: rosrun ros_icm20948 talker.py
• Option 2: roslaunch launches/icm20948.launch

Tested Setup

It should work on other versions but Python 3 is a requirement.

• Platform: Raspberry Pi 4
• OS: Ubuntu MATE 20.04
• ROS: Noetic
• Python: 3.8.5