libbno055-linux

A high-performance, polyglot C++17, ROS 2, Python, C, and Rust driver for the Bosch BNO055 9-DOF IMU sensor on Linux systems.

Highlights

• Native I2C & UART Support: Fast POSIX drivers with hardware auto-recovery for I2C bus lockups and UART overrun errors.
• ROS 2 Lifecycle & Diagnostics: Production ROS 2 lifecycle nodes with zero-copy publishing and diagnostic streams.
• Multi-Language FFI Bindings: C++17 core engine with native C, Python (pip), and safe Rust (crates.io) interfaces.

Why libbno055-linux?

Features

• Polyglot Bindings: First-class support for C++17, ROS 2, Python (pip), Rust (crates.io), and native C.
• Zero-Allocation Hot Path: Memory-optimized, no-heap allocations during high-rate sensor readouts.
• Robust Hardware Recovery: Auto-reconnects on I2C EIO bus lockups, clock-stretching glitches, and UART overrun errors.
• High-Throughput Burst Reads: 18-Byte sequential I2C/UART burst reads (~450µs at 400kHz I2C).
• Linux GPIO Interrupt (IRQ): Sub-millisecond latency via hardware INT pin edge detection using POSIX poll().

Quick Start by Language

Rust (crates.io)

cargo add libbno055

use libbno055::{BNO055, OpMode};

fn main() -> Result<(), &'static str> {
    let mut imu = BNO055::new_i2c(0x28, "/dev/i2c-1")?;
    if imu.begin(OpMode::NDOF) {
        if let Some(q) = imu.get_quaternion() {
            let euler = BNO055::to_euler_degrees(&q);
            println!("Roll: {:.2}, Pitch: {:.2}, Yaw: {:.2}", euler.x, euler.y, euler.z);
        }
    }
    Ok(())
}

Python (pip)

pip install libbno055-linux  # Or: pip install . (from source)

import libbno055

imu = libbno055.BNO055(address=0x28, device="/dev/i2c-1")
if imu.begin(libbno055.OpMode.NDOF):
    q = imu.get_quaternion()
    if q:
        euler = libbno055.to_euler_degrees(q)
        print(f"Roll: {euler.x:.2f}, Pitch: {euler.y:.2f}, Yaw: {euler.z:.2f}")

C++17 (Native CMake)

#include <libbno055-linux/bno055.hpp>
#include <iostream>

int main() {
    bno055lib::BNO055 imu(0x28, "/dev/i2c-1");
    if (imu.begin(bno055lib::OpMode::NDOF)) {
        if (auto q = imu.getQuaternionNoexcept()) {
            auto euler = bno055lib::toEulerDegrees(*q);
            std::cout << "Roll: " << euler.x << " Pitch: " << euler.y << " Yaw: " << euler.z << "\n";
        }
    }
}

ROS 2 Node (Binary Installation)

sudo apt update && sudo apt install ros-${ROS_DISTRO}-libbno055-linux
ros2 launch libbno055_linux bno055_launch.py

Documentation

• API Reference: Full class and function reference for C++, C, Python, and Rust.
• Integration & Tuning Guide: ROS 2 YAML parameters, EKF setup, 400kHz I2C, UART 921600 bps tuning, and Rust integration.
• Architecture & Design: PIMPL design, zero-copy transport, FFI layers, and state machines.
• Troubleshooting & FAQ: Hardware wiring, permissions, and clock-stretching fixes.

License

This project is released under the MIT License.