Welcome to IMU Sensor Module repository

For Jetson

Viewing IMU Data on Jetson

Viewing IMU Data on Jetson1. Connecting the Device2. Check Device Status3. Install Driver Library3.1 Download Python Driver Library File3.2 Transfer Files3.3 Installing Driver Libraries4. View IMU data5. Precautions

1. Connecting the Device

This tutorial uses the Jetson Nano motherboard as an example.

Connect the IMU attitude sensor to the Jetson Nano's I2C interface as shown in the diagram below.

IMU Attitude Sensor	Jetson nano (Physical Pins)
SDA	3
SCL	5
GND	GND
3.3V	3.3V

2. Check Device Status

First, install I2Ctool. In the terminal, enter:


xxxxxxxxxx
sudo apt-get update
sudo apt-get install -y i2c-tools

Check the I2C device. The I2C address corresponding to the IMU is 0x23


xxxxxxxxxx
sudo i2cdetect -y -r -a 1

3. Install Driver Library

3.1 Download Python Driver Library File

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

3.2 Transfer Files

Drag the driver library compressed 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.


xxxxxxxxxx
cd ~/Desktop && ls

Unzip the file


xxxxxxxxxx
unzip YbImuLib.zip

Enter the driver library folder


xxxxxxxxxx
cd YbImuLib

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


xxxxxxxxxx
sudo python3 setup.py install

Install required libraries


xxxxxxxxxx
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_I2C.py file to the Jetson Nano, and then run the command


xxxxxxxxxx
python3 YbImu_ReadData_I2C.py

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

5. Precautions

When using an Orin series motherboard, the I2C bus number needs to be modified according to the actual situation. The modification location is shown in the image below. It is usually bus number 7.

For Raspberry Pi 5

For RDK