Standalone ROS 2 driver for the BMM350 magnetometer

To my knowledge, there exists no ROS driver node for the Bosch BMM350.

This is a standalone ROS2 node that reads from the sensor and publishes to /sense/bmm350/raw.

Inspired by the code provided by Bosch, but completely rewritten in Python. Most of the calculations have been translated as-is. Some simplifications, slightly hacky shortcuts and hard-codings have been done.

Installation

Tested with Humble / 22.04 on a RasPi Zero2, but there is no reason it won't work with other systems.

• git clone https://gitlab.com/ignne/bmm350.git src/bmm350
• pip3 install -r src/bmm350/requirements.txt
• colcon build
• source install/setup.bash
• ros2 launch install/bmm350/share/bmm350/start.launch.yaml

Configuration

Change resource/parameters.yaml and rebuild. For the moment, it is just the I2C bus number. Also change here if you start under a different namespace.