Viewing IMU Data on Raspberry Pi

1. Connecting the Device

This tutorial uses a Raspberry Pi 5 motherboard and the official 64-bit image as an example.

Connect the IMU attitude sensor to the host's USB port using a Type-C cable.

2. Viewing Device Status

View Device ID

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lsusb

View Device Number

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ls -l /dev/ttyU*

3. Installing Driver Libraries

3.1 Download the Python driver library file

The latest version of the driver library, named YbImuLib.zip, is provided in the data folder.

3.2 Transferring files

Drag the compressed driver library file onto the Jetson desktop using WinSCP software.

The driver library file can be deleted after successful installation.

If you are unfamiliar with using WinSCP to transfer files, please refer to the following webpage for detailed WinSCP installation and operation instructions:

File Transfer

3.3 Installing Driver Libraries

Open the terminal on your Jetson Nano and enter the following command to extract the files.

Access the desktop and check if the file exists; the target file is highlighted in the red box.

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cd ~/Desktop && ls

Unzip the file

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unzip YbImuLib.zip

Enter the driver library folder

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cd YbImuLib

Run the installation command. If you see the installation version number displayed at the end, the installation was successful. This command will overwrite any previously installed Rosmaster_Lib driver library.

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sudo python3 setup.py install

Install required libraries

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sudo pip3 install pyserial
sudo pip3 install smbus2

4. View IMU data

Refer to 3.2 File Transfer, use WinSCP to transfer the YbImu_ReadData_Serial.py file to the Jetson, and then run the command

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python3 YbImu_ReadData_Serial.py

Note: The above data reads are for a 9-axis IMU. Data from the 6-axis IMU is not available from the magnetometer or barometer, and data from the 9-axis IMU is not available from the barometer.

5. Precautions

If you can find the device ID but not the device serial number, you can refer to the following commands to install the ch34x driver:

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sudo apt remove brltty
git clone https://github.com/clhchan/CH341SER.git
cd CH341SER
make -j6
sudo make install
sudo modprobe ch34x