Unable to use bno055_params_i2c_yaml params file

[ARLunan]

Using i2c connection to bno055: After colcon build & source . install/setup.bash, execution error

ubuntu@rp4-ub22h-mt:/bno055_ws$ ros2 launch bno055 bno055.launch.py config:=bno055_params_i2c.yaml
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2024-04-09-20-10-01-391230-rp4-ub22h-mt-4494
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [bno055-1]: process started with pid [4495]
[bno055-1] Traceback (most recent call last):
[bno055-1] File "/home/ubuntu/bno055_ws/install/bno055/lib/bno055/bno055", line 33, in
.
.
[bno055-1] File "/home/ubuntu/bno055_ws/build/bno055/bno055/connectors/uart.py", line 33, in
[bno055-1] import serial
[bno055-1] ModuleNotFoundError: No module named 'serial'
[ERROR] [bno055-1]: process has died [pid 4495, exit code 1, cmd '/home/ubuntu/bno055_ws/install/bno055/lib/bno055/bno055 --ros-args --params-file /home/ubuntu/bno055_ws/install/bno055/share/bno055/config/bno055_params.yaml'].
ubuntu@rp4-ub22h-mt:/bno055_ws$

Seems config i2c parameter file is ignored and the default serial params yaml is used.

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[ARLunan]

To further investigate, I added a new params/bno055_params_i2c_rp4.yaml with the following changes spec to the Raspberry Pi i2c configuration

ubuntu@rp4-ub22h-mt:~/bno055_ws/src/bno055/bno055/params$ cat bno055_params_i2c_rp4.yaml

Copyright 2021 AUTHORS

.
.

Example parameters for an I2C connection to the BNO055 motion sensor.

Revised ARLunan Apr 10, 2024 to configure for Rapsberry Pi i2C

bno055:
ros__parameters:
ros_topic_prefix: "bno055/"
connection_type: "i2c"
# i2c_bus: 0
i2c_b
Then run the following hoping for this new "rp4" yaml file to be loaded-but it was not, and still seems to open the "uart" port.

ubuntu@rp4-ub22h-mt:/bno055_ws$ ros2 run bno055 bno055 --ros-args --params-file ./src/bno055/bno055/params/bno055_params_i2c_rp4.yaml
Traceback (most recent call last):
File "/home/ubuntu/bno055_ws/install/bno055/lib/bno055/bno055", line 33, in
sys.exit(load_entry_point('bno055', 'console_scripts', 'bno055')())
File "/home/ubuntu/bno055_ws/install/bno055/lib/bno055/bno055", line 25, in importlib_load_entry_point
.
.
.
File "/home/ubuntu/bno055_ws/build/bno055/bno055/bno055.py", line 34, in
from bno055.connectors.uart import UART
File "/home/ubuntu/bno055_ws/build/bno055/bno055/connectors/uart.py", line 33, in
import serial
ModuleNotFoundError: No module named 'serial'
[ros2run]: Process exited with failure 1
ubuntu@rp4-ub22h-mt:/bno055_ws$

Could you suggest different run files or edits to the configuration files to enable running an i2c configuration?