[bug] Units break REP103 and are not consistent

[Darkproduct]

We tried a view BNO055 driver for ROS2 and found a bug in all of them. To adhere to REP 103 the messages have to use SI units.

In this package there are two problems:

1. The acceleration factor is 1000 where it has to be 100
2. The magnetometer unit is in μT and not T the factor hast to be 16000000 and not 16

The Bug

The linear_acceleration scale factor is set to 1000, but has to be 100.
From the BNO055 Data Sheet:

• 3.6.1 Unit selection - Table 3-17: Accelerometer Unit settings:

Unit	Representation
m/s²	1 m/s² = 100 LSB
mg	1 mg = 1 LSB

• 3.6.1 Unit selection - Table 3-19: Magnetometer Unit settings:

Unit	Representation
μT	1 μT = 16 LSB

Info

In the end, we decided to use the ros2_bno055_driver from RoverRobotics-archive, because we only have an RPi4 and python is not that performant. Here are our fixes RoverRobotics-archive/ros2_bno055_driver#6. But because this is the upstream repository of ros-foxy-bno055, it would be beneficial for other to fix it here as well.

[github-actions]

Thank you for creating your first issue on this repo! Give me some time to review and respond to your problem.