Interfacing IMU With AGX ORIN

Interface connection

---

Step by Step Instructions

• To enable IMU topics in ROS2 Humble in AGX Orin, a docker container Setup of Humble docker is used. Please follow the steps given Setup of Humble docker to build a docker container. To Start IMU follow these steps:

• Start a ROS2 humble docker container refer Setup of Humble docker.

           docker exec -it ros2-humble-jammy bash

• After going inside docker container

         cd ~/ros2_ws/
         source install/setup.bash
         colcon build //(Optional, if not done)
         source install/setup.bash

Test cases and examples

• To run ADIS16470 IMU follow these steps inside docker only:

          sudo chmod 666 /dev/ttyACM0 

(If you have more devices, select the port related to your IMU)

          ros2 run imu_driver adis16470_node

• Now open another docker terminal to see data coming from IMU

          ros2 topic list

• You will see these topics coming from IMU.

  /imu
  /temperature

• To see more detailed information of any topic you can use “echo” command as shown below:

         ros2 topic echo /imu

Content of the “/imu” topic.

Instructions/Challenges/Errors

• If anyone working with the ROS2 Galactic system is necessary, follow the instructions in Setup of Galactic docker and redo all the above procedures in an equivalent way using the ROS2 Galactic Docker.

• If you get a warning “no return statement in function returning non-void” or “control reaches end of non-void function” just ignore it.

IMU Interfacing with Orin Kit