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High rate raw data #11

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mzahana opened this issue Apr 27, 2024 · 1 comment

mzahana commented Apr 27, 2024

I would like to get high rate (~200Hz) of the raw data (accelerometer and gyroscope) to use with some visual inertial navigation frameworks.

Is this achievable using this driver? IF yes, what needs to be done? Is it related to

ros-imu-bno055/src/bno055_i2c_node.cpp

Line 72 in 4c80f36

nh_priv->param("rate", param_rate, (double)100);

Thanks

Owner

dheera commented May 18, 2024 •

edited

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Hi,
BNO055 only supports 100Hz in Fusion mode. Increasing this "rate" parameter beyond 100 will not help.

You can get higher rates of raw, unfused data by selecting one of the higher "non-fusion" modes. This driver does not support them but you can read the datasheet and add support for them
https://www.mouser.com/datasheet/2/783/bst_bno055_ds000-3247202.pdf

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