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update readme #11

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23 changes: 15 additions & 8 deletions README.md
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Original file line number Diff line number Diff line change
@@ -1,16 +1,17 @@
# The bno055 ROS2 package
# A BNO05 ROS2 Package

## Description
A ROS2 driver for the sensor IMU Bosch BNO055. It was implemented only the UART communication interface
(correct sensor mode should be selected...see diagram below).
A ROS2 driver for the sensor IMU Bosch BNO055.

This repo was based off of [Michael Drwiega's work on the Bosch IMU Driver for ROS 1](https://github.com/mdrwiega/bosch_imu_driver)

---
## Wiring Guide

### Selecting Connection Type

The default mode is I2C. Connect Pin PS1 with 3.3V to select UART mode.
The default mode is I2C.
To select UART mode connect the `3.3V` pin to the `PS1` pin.

### CP2104 USB-to-UART Bridge

Expand All @@ -25,12 +26,15 @@ When using a CP2104 USB-to-UART Bridge:

**NOTE: on the CP2104 the pins above refer to the FTDI pins at the opposite end from the USB connector

---
## ROS Node Parameters

In order to configuration, please adjust the [node parameter file](bno055/params/bno055_params.yaml) and pass it
as parameter when starting the node:
To configure with your own settings please adjust the [node parameter file](bno055/params/bno055_params.yaml) and pass it
as an argument when starting the node:

ros2 run bno055 bno055 --ros-args --params-file ./src/bno055/bno055/params/bno055_params.yaml
```
ros2 run bno055 bno055 --ros-args --params-file ./src/bno055/bno055/params/bno055_params.yaml
```

### UART Connection

Expand All @@ -52,6 +56,7 @@ See Bosch BNO055 datasheet section "Axis Remap" for valid positions: "P0", "P1"

- **ros_topic_prefix**: ROS topic prefix to be used. Will be prepended to the default topic names (see below). Default="bno055/"

---
## ROS Topics

ROS topics published by this ROS2 Node:
Expand All @@ -64,7 +69,9 @@ ROS topics published by this ROS2 Node:
Sensor Calibration Status as JSON string - e.g. `{"sys": 3, "gyro": 3, "accel": 0, "mag": 3}`


while _bno055_ is the default ROS topic prefix and can be configured.
While _bno055_ is the default ROS topic prefix, it can be configured by following the directions above.

---

## Development Workspace Setup

Expand Down