libbno055-linux
A C++17 driver for the Bosch BNO055 9-axis IMU on Linux, with first-class ROS 2 integration.
Components
| Component | Description |
|---|---|
| Hardware Driver | C++17 I2C/UART driver for the BNO055. Handles initialization, sensor reads, calibration, and transport recovery. |
| ROS 2 Package | Composable and Lifecycle nodes publishing sensor_msgs/Imu, sensor_msgs/MagneticField, and diagnostics. |
| Python Bindings | pip install libbno055-linux → import libbno055 |
| Rust Crate | cargo add libbno055 |
| C API | Stable C99 FFI interface (bno055_c.h) |
| Heading Controller | Optional PID-based straight-line correction for differential-drive robots. See docs/HEADING_CONTROL.md. |
Quick Start
ROS 2 — IMU Driver Node
ros2 launch libbno055_linux bno055_launch.py
Published topics:
/imu/data—sensor_msgs/Imu(quaternion, angular velocity, linear acceleration)/imu/mag—sensor_msgs/MagneticField/diagnostics—diagnostic_msgs/DiagnosticArray
For Nav2 Lifecycle Manager:
ros2 launch libbno055_linux bno055_launch.py node_type:=lifecycle
C++17
#include "libbno055-linux/bno055.hpp"
bno055lib::BNO055 imu(0x28, "/dev/i2c-1");
imu.begin(bno055lib::OpMode::NDOF);
auto quat = imu.getQuaternionNoexcept();
if (quat) {
// quat->w, quat->x, quat->y, quat->z
}
Python
Note: The pip package name and the Python module name differ. Install:
pip install libbno055-linux— Import:import libbno055
pip install libbno055-linux
import libbno055
imu = libbno055.BNO055(address=0x28, device="/dev/i2c-1")
imu.begin(libbno055.OpMode.NDOF)
q = imu.get_quaternion()
Rust
cargo add libbno055
Driver Features
Hardware Driver (C++17)
- I2C and UART transport backends with POSIX drivers
- Automatic transport recovery on bus errors and communication failures
- 18-byte sequential burst read for Accel + Mag + Gyro in a single transaction
- Stale Data Deduplication Filter — eliminates duplicate frame publishing in ROS 2
- Configurable sensor output data rates in AMG mode (up to Accel 1 kHz / Gyro 2 kHz ODR)
- Optional background polling thread for continuous non-blocking reads
- Calibration management — save and load sensor offsets to/from file
Empirical Benchmark (RDK X5 Hardware Validation)
Tested out-of-the-box on RDK X5 (Sunrise RDK) via standard Linux /dev/i2c-5 interface with zero tuning or custom OS setup:
| Metric | Measured Value | Target / Hardware Limit | Note |
|---|---|---|---|
| NDOF Sampling Rate | 82.57 Hz | 100 Hz (Hardware Limit) | ~83% of physical Cortex-M0 fusion limit |
| I/O Burst Read Latency | 1.99 ms | < 5.0 ms | 18-byte sequential burst read over default I2C |
| Timing Jitter (StdDev) | 0.73 ms | < 1.0 ms | Sub-millisecond interval jitter out-of-the-box |
For the full API including GPIO interrupts, axis remapping, power modes, and operating modes, see docs/API_REFERENCE.md.
ROS 2 Package
- Composable Component (
rclcpp_components) — zero-copy intra-process transport - Managed Lifecycle Node (
rclcpp_lifecycle) — Nav2 Lifecycle Manager integration - Isolated CallbackGroups — sensor publishing isolated from diagnostics and services
- MultiThreadedExecutor — parallel callback execution
- Linux
SCHED_FIFOsupport — optional real-time thread priority - Dynamic Parameters — update parameters at runtime via
ros2 param set
Installation
Option A: apt (ROS 2 binary)
sudo apt update
sudo apt install ros-$ROS_DISTRO-libbno055-linux
The
aptbinary is updated periodically by ROS Buildfarm. For the latest release (v1.10.0), build from source.
Option B: vcstool (recommended for team/production workspaces)
Add this package to your robot's .repos file:
# robot.repos
repositories:
libbno055-linux:
type: git
url: https://github.com/lazytatzv/libbno055-linux.git
version: v1.10.0
Then import and build:
cd ~/ros2_ws
vcs import src < robot.repos
rosdep install --from-paths src --ignore-src -r -y
colcon build
source install/setup.bash
To update to a new version, change version: in the .repos file and run vcs import src < robot.repos again.
Option C: colcon (ROS 2 source build)
cd ~/ros2_ws/src
git clone https://github.com/lazytatzv/libbno055-linux.git
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --packages-select libbno055_linux
source install/setup.bash
Option D: CMake (standalone C++ library)
git clone https://github.com/lazytatzv/libbno055-linux.git
cd libbno055-linux
mkdir build && cd build
cmake ..
make -j$(nproc)
sudo make install
ROS 2 Parameters
Key parameters (see config/bno055_params.yaml for the full list):
| Parameter | Default | Description |
|---|---|---|
device |
/dev/i2c-1 |
I2C device path |
address |
0x28 |
I2C slave address |
publish_rate_hz |
100 |
Sensor publish rate (Hz) |
frame_id |
imu_link |
ROS TF frame ID |
imu_offset_x |
0.0 |
Forward physical offset from robot center of mass (m) for Lever Arm / TF |
imu_offset_y |
0.0 |
Leftward physical offset from robot center of mass (m) for Lever Arm / TF |
imu_offset_z |
0.0 |
Upward physical offset from robot center of mass (m) for Lever Arm / TF |
| ... |
Documentation
- API Reference — C++ / C / Python / Rust
- ROS 2 Node Architecture
- Hardware Calibration Guide
- Integration Guide (EKF, Nav2, robot_localization)
- Heading PID Controller (Optional)
- Troubleshooting & FAQ
License
1 maintainer
Metadata
1 maintainer
Release files for libbno055-linux 1.10.0
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Source distribution (sdist)
| File | Size | Uploaded | |
|---|---|---|---|
| libbno055_linux-1.10.0.tar.gz | 46.8 kB | Details |
Built distributions (wheels)
Total release size: 28.9 MB
Release files / libbno055_linux-1.10.0.tar.gz
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