MPU9250 Driver for ROS2

This repository contains a ROS2 package that interfaces with an MPU9250 sensor over I2C. The accelerometer and gyroscope are calibrated on node startup (the sensor should be placed on a flat surface with the z-axis pointing up and should remain stationary during calibration). Calibration can be turned off in the parameters file. The current implementation allows for customization of the gyroscope and accelerometer ranges, digital low pass filter (DLPF) settings, and sensor offsets.

This setup is specifically configured for a Jetson Orin Nano, where the MPU9250 sensor is connected as follows:

• SDA is connected to pin 3
• SCL is connected to pin 5
• This corresponds to I2C bus 7 on the Jetson Orin Nano.

Dependencies

• Python 3
• ROS 2 Humble
• smbus2 Python library (for I2C communication with the MPU9250 sensor)

You can install the smbus2 library using pip:

pip install smbus2

Setup

Parameters can be configured in the params/mpu9250.yaml file. The following parameters are available:

calibrate: True
gyro_range: 0
accel_range: 0
dlpf_bandwidth: 2
gyro_x_offset: 0.0 # [deg/s]
gyro_y_offset: 0.0 # [deg/s]
gyro_z_offset: 0.0 # [deg/s]
accel_x_offset: 0.0 # [m/s²]
accel_y_offset: 0.0 # [m/s²]
accel_z_offset: 0.0 # [m/s²]
frequency: 100 # [Hz]

Build the Package

To build the package in your ROS 2 workspace:

colcon build --packages-select mpu9250driver

Source the Workspace

After building the package, source the setup script:

. install/setup.bash

Launch the Node

To launch the node with the configured parameters:

ros2 launch mpu9250driver mpu9250driver_launch.py

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This README now includes the specific details about the Jetson Orin Nano setup, making it clear how the MPU9250 sensor is connected and which I2C bus is used.

ros2 launch mpu9250driver mpu9250driver_launch.py