libbno055-linux Official Documentation

Welcome to the documentation for libbno055-linux, a robust, thread-safe, and dependency-free C++17 library for the BNO055 sensor over I2C on Linux.

Contents:

• libbno055-linux
  • Features
  • High-Performance & State Estimation (EKF) Features
  • Quick Start
  • Detailed Project Documentation
  • Hardware Configuration (Prerequisites)
  • License
• Architecture and Design Decisions
  • 1. Zero-Allocation & Exception-Free Hot Paths
  • 2. The PIMPL Idiom (Pointer to Implementation)
  • 3. I2C Clock Stretching & The Auto-Recovery Engine
  • 4. Thread Safety & Concurrency
  • 5. Transport Abstraction Layer & Dependency Injection
  • 6. Single-Precision Floating-Point Optimization
  • 7. Asynchronous Polling & Auto-Calibration Helplers
  • 8. ROS 2 Node Architectures & Zero-Copy Communication
• Advanced ROS 2 Integration Guide
  • 1. The Lifecycle Node (State Machine) Approach
  • 2. SensorData QoS (Quality of Service)
  • 3. Registering with rosdep
  • 4. Building and Running the ROS 2 Examples
  • 5. Linux Kernel Tuning & Hardware Optimization Guide
  • 6. Hardware Sampling Limits & Aliasing Warnings (EKF Tuning)
  • 7. Integration with robot_localization (ROS 2 EKF)
  • 8. High-Performance Read Modes & Hardware Wiring
  • 9. Ultra-Extreme Tuning for Hardware Limits
• Sensor Overview and Operation Modes
  • Key Fusion Modes
  • Orientation Formats (Quaternion and Euler Angles)
  • Sensor Calibration
• libbno055-linux API Reference
  • Namespaces & Types
• Troubleshooting & FAQ
  • I2C Permission Denied
  • BNO055 Clock Stretching (I2C Lockups on Raspberry Pi)
  • Hardware Lockups or Unresponsive Sensor
  • Sensor Calibration is Lost on Reboot
  • Why isn’t the Magnetometer working indoors?
  • ROS 2 Specific Troubleshooting
• Release Guide (Maintainer Only)
  • 1. Bump the Version
  • 2. ROS 2 Release (via Bloom)
  • 3. Ubuntu PPA Release (Standalone C++)