BNO08x ROS2 driver updated

[Sergei Grichine]

Hi All,

I updated my fork of the BNO08x ROS2 driver, incorporating the following pull requests:

CMake changes for Lyrical - future-proofing the driver

Add enable_6dof_mode parameter - covers special use case, when mag calibration fails

Please pull the latest code, let me know if you have any issues.

The driver works fine on my Seggy robot under ROS2 Jazzy. BNO085 seems to be the best IMU available for ROS robots.

Thanks to James Phelan and Marco Walther, who took time and effort to submit pull requests.

Please refer to the following notes for more info:

• https://github.com/slgrobotics/robots_bringup/blob/main/Docs/Sensors/BNO085%20IMU.md
• https://github.com/slgrobotics/articubot_one/wiki/IMUs-%E2%80%90-Tips-and-Lessons

Best Regards,

-- Sergei

[Karim Virani]

any plans to implement the uart interface? the bno055 driver does support this.

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[James H Phelan]

Sergei,

Pulled your updated repo and cleaned up my own.

Tested update & it hunts.

Enjoyed our collaboration.

Credit for Git skills goes to Claude Opus 4.7.

James H Phelan
"Nihil est sine ratione cur potius sit quam non sit"
Leibniz

[Sergei Grichine]

@Karim Verani:

"any plans to implement the uart interface? the bno055 driver does support this."

Not sure what you mean. The upstream code mentions UART and SPI interfaces (well, at least in the config yaml) - but I don't have a way (or interest) in exploring those paths, I2C works fine for me on RPi.

Feel free to submit a PR if you've tested those and have some code fixes (or even just test results or notes - I'll add them to the docs). 

@Jim Phelan : Great catch and easy communication - thank you and always welcome! All credits go to the man behind the wheel, not the vehicle ;-)

@Everyone - GitHub is a great place for contributing and improving the Open Source code. Pull Requests are the way to do it. You see something - say (open a PR) something.

Best Regards,

-- Sergei

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