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bmp280_barometer

ROS 2 Jazzy driver for the Bosch BMP280 barometric pressure and temperature sensor over I2C.

Features

  • Publishes sensor_msgs/FluidPressure on the bmp280/pressure topic
  • Publishes sensor_msgs/Temperature on the bmp280/temperature topic
  • Fake mode — generates random pressure/temperature data without physical hardware
  • Configurable I2C bus, device address, publish rate, oversampling, and IIR filter
  • Double-precision compensation formulas from the BMP280 datasheet (Section 8.1)
  • Burst-read of pressure + temperature in a single I2C transaction

Prerequisites

  • ROS 2 Jazzy
  • Python 3
  • smbus2 (only required when fake_mode is false)
pip3 install smbus2

Installation

cd ~/ros2_ws
colcon build --packages-select bmp280_barometer
source install/setup.bash

Usage

Launch with default parameters (fake mode)

ros2 launch bmp280_barometer bmp280_launch.py

Run the node directly

ros2 run bmp280_barometer bmp280_node.py --ros-args -p fake_mode:=true

Run with real hardware

ros2 run bmp280_barometer bmp280_node.py --ros-args -p fake_mode:=false

Override parameters via YAML

ros2 launch bmp280_barometer bmp280_launch.py params_file:=/path/to/your_params.yaml

Verify output

ros2 topic echo /bmp280/pressure
ros2 topic echo /bmp280/temperature

Parameters

Parameter Type Default Description
fake_mode bool true true: generate random data, false: read from real I2C device
i2c_bus int 1 I2C bus number (/dev/i2c-N)
device_address int 0x76 BMP280 I2C address (0x76 or 0x77)
publish_rate double 10.0 Publishing rate in Hz
frame_id string bmp280_link TF frame ID in message headers
pressure_oversampling int 5 Pressure oversampling: 0=skip, 1=x1, 2=x2, 3=x4, 4=x8, 5=x16
temperature_oversampling int 2 Temperature oversampling: 0=skip, 1=x1, 2=x2, 3=x4, 4=x8, 5=x16
iir_filter int 4 IIR filter coefficient: 0=off, 1=2, 2=4, 3=8, 4=16
pressure_variance double 0.0 Pressure variance (0 = unknown)
temperature_variance double 0.0 Temperature variance (0 = unknown)

Services

Service Type Description
bmp280/calibrate std_srvs/Trigger Collect data for 2 seconds and compute pressure bias to standard atmosphere
bmp280/reset std_srvs/Trigger Clear bias and reinitialize the sensor

Package Structure

bmp280_barometer/
├── CMakeLists.txt
├── package.xml
├── config/
│   └── bmp280_params.yaml
├── launch/
│   └── bmp280_launch.py
├── bmp280_barometer/
│   ├── __init__.py
│   └── bmp280_driver.py
├── nodes/
│   └── bmp280_node.py
└── test/
    └── test_bmp280_node.py

Test Results

Tested on Ubuntu 24.04 (WSL2) with fake_mode: true.

$ colcon test --packages-select bmp280_barometer
$ colcon test-result --verbose
Summary: 28 tests, 0 errors, 0 failures, 0 skipped
Test Category Test Result
Topics bmp280/pressure publishes sensor_msgs/FluidPressure PASS
Topics bmp280/temperature publishes sensor_msgs/Temperature PASS
Topics frame_id == "bmp280_link" PASS
Topics Pressure in range 90000-110000 Pa PASS
Topics Temperature in range 15-35 °C PASS
Services bmp280/calibrate returns success=True PASS
Services bmp280/reset returns success=True PASS
Parameters publish_rate runtime change to 20.0 Hz PASS
Shutdown Clean exit (code 0, -2, or -15) PASS
Linting pep257, flake8, copyright, xmllint PASS

License

This project is licensed under the MIT License. See LICENSE for details.