(Jetson Project#5-1)Integrating the MPU6050 GY-521 6-Axis IMU Sensor(Change)

Change to 6-axis IMU Sensor.

In Jetson Project#4,

We successfully tested the Rplidar A1 with changed this code.

roslaunch rplidar_ros rplidar_a1.launch

source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash


rviz # in second terminal 

And in Rviz, Add LaserScan, edit "map" to "laser" in "Fixed Frame"

Now, in this post,

Part 3: Integrating the MPU6050 (GY-521) IMU Sensor mainly.

Replacing the MPU9250 with the MPU6050 (GY-521) involves connecting the sensor to the Jetson Nano and setting up the appropriate ROS packages to publish IMU data.

3.1 Hardware Connections

Connecting MPU6050 (GY-521) to Jetson Nano:

The MPU6050 communicates via the I2C interface. Below How to connect it:

1. Identify the GY-521 Pins:

GY-521 Pin Function
VCC Power (3.3V/5V)
GND Ground
SCL I2C Clock
SDA I2C Data
XDA Not used
XCL Not used

2. Connect to Jetson Nano's I2C Pins:

The Jetson Nano's I2C pins are located on the GPIO header.
Jetson Nano Pin Function
Pin 3 (SDA1) SDA
Pin 5 (SCL1) SCL
Pin 1 (3.3V) 3.3V
Pin 6 GND

connection map

VCC ------ 3.3V (Pin 1)
GND ------ GND (Pin 6)
SCL ------ SCL1 (Pin 5)
SDA ------ SDA1 (Pin 3)

3.2 Enable I2C on Jetson Nano

1. Check if I2C is Enabled:

The Jetson Nano typically has I2C enabled by default. Verify by listing the I2C devices.

sudo apt-get update
sudo apt-get install -y i2c-tools
i2cdetect -y -r 1

if errored in "1. process" you can check "physical connection" or below "Enable I2C Kernel" .

1-1. Enable I2C Kernel Modules (If Not Already Enabled):

Check if the I2C modules are loaded.

lsmod | grep i2c

If not, add them to /etc/modules:

echo "i2c-dev" | sudo tee -a /etc/modules
sudo modprobe i2c-dev

if success, follow the below.

2. Install Necessary Libraries:

sudo apt-get update
sudo apt-get install -y build-essential cmake git libi2c-dev