[This package has been developed for the BeagleBone]
Bitbake recipe that cross-compiles the ros_mpu9150 ROS package. The ros_mpu9150 publishes the Invensense MPU-9150 data into a ROS topic. Take a look at the source code
This ROS package makes use of the linux-mpu9150 userspace driver. This driver can individually be installed using this recipe or it can also be cross-compiled (or even natively compiled) using the instructions provided with the driver.
The recipe ships the following files:
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random: a simple example of a ROS node that creates random strings.
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mpu9150_node: The ROS node that publishes the MPU9150 data into the topic mpu9150_topic
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accelcal.txt: The accelerometer calibration file.
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magcal.txt: The magnetometer calibration file.
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linux-mpu9150 (directory): The userspace driver of the MPU9150 code. The source can be compiled using the instructions provided at the README file.
##Usage:
Usage: ./mpu9150_node [options]
-b <i2c-bus> The I2C bus number where the IMU is. The default is 1 t.
-s <sample-rate> The IMU sample rate in Hz. Range 2-50, default 10.
-y <yaw-mix-factor> Effect of mag yaw on fused yaw data.
0 = gyro only
1 = mag only
> 1 scaled mag adjustment of gyro data
The default is 4.
-a <accelcal file> Path to accelerometer calibration file. Default is ./act
-m <magcal file> Path to mag calibration file. Default is ./magcal.txt
-v Verbose messages
-h Show this help
Example: ./mpu9150_node -b3 -s20 -y10