devkit_driver.modules.imu_handler

ImuHandler — publishes BNO085 data from the Lizard robot brain as sensor_msgs/Imu.

The BNO085 runs in NDOF mode on the ESP32 (via ImuBno085 in Lizard). Telemetry is streamed at 50 Hz in devkit.liz and arrives here via the feldfreund_devkit Imu hardware object.

Topic published: /imu/data (sensor_msgs/Imu, frame_id = “imu_link”)

FusionCore can consume this once you uncomment the imu.* params in fusioncore.yaml. The devkit_driver_node instantiates this handler whenever system.feldfreund.imu is present.

Classes

ImuHandler(node, imu)

Subscribe to the feldfreund_devkit Imu object and publish sensor_msgs/Imu.

class devkit_driver.modules.imu_handler.ImuHandler(node: rclpy.node.Node, imu)[source]

Bases: object

Subscribe to the feldfreund_devkit Imu object and publish sensor_msgs/Imu.

FRAME_ID = 'imu_link'

TOPIC = '/imu/data'