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mpu6050-jetson-xavier-nx

This package is specifically designed to get orientation, angular velocity and linear acceleration data in the form of "sensor_msgs/Imu" from mpu6050 imu sensor on Nvidia's Jetson Xavier NX board with ROS Noetic.

The parameters assumed in the code :

  • Gravity = 9.81m/s2
  • Samples to calculate gyro offset = 3000
  • Samples to calculate covariances = 1000
  • Acceleration sesnitivity factor = 16384.0
  • Gyroscope sensitivity factor = 131.0 (+/- 250 degree/sec)
  • ROS distribution = Noetic

Instructions to use:

  • Conenct mpu6050 sensor by i2c communication with jetson xavier. Make sure you connect it on i2c bus no. 8
  • Update the pakcages.
sudo apt update
  • Install i2c-dev library on jetson xavier.
sudo apt install libi2c-dev
  • Launch mpu6050.launch file
  • Keep MPU stationary until you see a ROS log 'Publishing on topic mpu6050/data' in the terminal
  • Always keep MPU in the XY plane (parallel to ground)