IMU jetzt sauber als ROS Node eingebunden

2026-05-28 15:18:11 +02:00
parent 580029730a
commit 2ed835d679
5 changed files with 483 additions and 2 deletions
@@ -0,0 +1,18 @@
+[Unit]
+Description=ExoMy IMU ROS Bridge
+After=network-online.target docker.service
+Wants=network-online.target
+
+[Service]
+Type=simple
+ExecStart=/usr/bin/python3 /home/pi/ExoMy_Software/src/imu_node.py
+Environment=IMU_RATE_HZ=15
+Environment=IMU_FRAME_ID=imu_link
+Environment=IMU_I2C_ADDRESS=0x4A
+Environment=IMU_ROSBRIDGE_HOST=127.0.0.1
+Environment=IMU_ROSBRIDGE_PORT=9090
+Restart=always
+RestartSec=2
+
+[Install]
+WantedBy=multi-user.target