import rclpy from rclpy.node import Node from sensor_msgs.msg import Imu from std_msgs.msg import Header from geometry_msgs.msg import (Quaternion, Vector3) from std_msgs.msg import String from rclpy.qos import QoSProfile import time import board import busio # import serial from adafruit_bno08x import ( BNO_REPORT_ACCELEROMETER, BNO_REPORT_GYROSCOPE, BNO_REPORT_ROTATION_VECTOR, ) from adafruit_bno08x.i2c import BNO08X_I2C i2c = busio.I2C(board.SCL, board.SDA, frequency=400000) bno = BNO08X_I2C(i2c) bno.enable_feature(BNO_REPORT_ACCELEROMETER) bno.enable_feature(BNO_REPORT_GYROSCOPE) bno.enable_feature(BNO_REPORT_ROTATION_VECTOR) class ImuPublisher(Node): def __init__(self): super().__init__('imu_publisher') #prefix = self.param.ros_topic_prefix.value #QoSProf = QoSProfile(depth=10) #self.publisher_ = self.create_publisher(String, 'topic', 10) #self.pub_imu_msg = Node.create_publisher(Imu, 'imu_msg', QoSProfile, 10) self.publisher_ = self.create_publisher(Imu, 'imu', 10) #self.diag_pub_time = self.get_clock().now() self.imu_msg = Imu() self.frame_id = self.declare_parameter('frame_id', "base_imu_link").value self.get_logger().info(f"Imu publisher successfully created.") def publish_imu_message(self): """Publish the sensor message with new data """ #try: imu_msg = Imu() # data = self.sensor.getMotion6() # yaw, pitch, roll, x_accel, y_accel, z_accel = rvc.heading gyro = Vector3() gyro.x, gyro.y, gyro.z = bno.gyro self.get_logger().info(f"Now gathering data for message") # fetch all accel values - return in m/s² accel = Vector3() accel.x, accel.y, accel.z = bno.acceleration imu_msg.angular_velocity = gyro imu_msg.angular_velocity_covariance[0] = 0.00001 imu_msg.angular_velocity_covariance[4] = 0.00001 imu_msg.angular_velocity_covariance[8] = 0.00001 imu_msg.linear_acceleration = accel imu_msg.linear_acceleration_covariance[0] = 0.00001 imu_msg.linear_acceleration_covariance[4] = 0.00001 imu_msg.linear_acceleration_covariance[8] = 0.00001 # imu_msg.orientation_covariance = constants.EMPTY_ARRAY_9 quat_i, quat_j, quat_k, quat_real = bno.quaternion imu_msg.orientation[w] = quat_real imu_msg.orientation[x] = quat_i imu_msg.orientation[y] = quat_j imu_msg.orientation[z] = quat_k imu_msg.orientation_covariance[0] = 0.00001 imu_msg.orientation_covariance[4] = 0.00001 imu_msg.orientation_covariance[8] = 0.00001 # add header imu_msg.header.stamp = self.get_clock().now().to_msg() imu_msg.header.frame_id = self.imu_frame node.get_logger().info('Publishing imu message') #self.pub_imu_raw.publish(imu_raw_msg) self.pub_imu.publish(imu_msg) self.get_logger().debug('gz: {:+.0f}'.format(gyro.z)) #self.imu_message_publisher.pub.publish(self.imu_msg) #self.publish_imu_message() #self.pub.publish(self.imu_msg) #self.publish_imu_message() #self.rate.sleep() #except Exception as ex: #self.get_logger().error(f"Error in publishing sensor message: {ex}") def main(args=None): rclpy.init(args=args) node = ImuPublisher() try: rclpy.spin(node) except KeyboardInterrupt: pass #imu_publisher = ImuPublisher() #rclpy.spin(imu_publisher) # Destroy the node explicitly # (optional - otherwise it will be done automatically # when the garbage collector destroys the node object) #imu_publisher.destroy_node() rclpy.shutdown() if __name__ == '__main__': main() It seems to execute properly to the first message about node creation. Checking topics shows the /imu topic. But no messages are published! I'll try to include a photo of the error: 
