This package includes driver software for the InvenSense [MPU9250] 9DoF IMU.
This package includes driver software for the InvenSense [MPU9250] 9DoF IMU. It provides a base driver class that allows a device specific (e.g. RPi, Arduino, etc.) driver to be easily derived and implemented. In it's current state, this repository includes a derived driver for the Raspberry Pi using pigpio.
**Keywords:** mpu9250 imu driver raspberry_pi
...
...
@@ -44,6 +44,24 @@ For example, to run the node using a driver for a Raspberry Pi:
rosrun driver_mpu9250 driver_mpu9250_rpi
### Creating Device Drivers
This package uses polymorphism with a base driver class to enable drivers to be built for a variety of hardware interfaces. To create your own device-specific driver:
- Create a new class for your device driver that extends the base driver class in `src/driver.h`
- In your derived driver class, implement the several pure abstract functions of the base driver class
- Create a new main.cpp that instantiates your derived class and passes it to the `src/ros_node.h` instance through polymorphism before running the node.
- Add the new main.cpp to your CMakeLists.txt as a new node executable.
You can refer to the following files in this package as an example for creating your custom device driver:
```
src/rpi_driver.h
src/rpi_driver.cpp
src/main_rpi.cpp
CMakeLists.txt
```
If you have created and tested a driver for a device not already covered in this package, please feel free to submit a pull request!
