bno055 calibration problem

[mdbirley]

I am using an adafriut absolute orientation IMU on a ROS robot. It uses the BNO055 chip

https://learn.adafruit.com/adafruit-bno055-absolute-orientation-sensor/webserial-visualizer

I am using this package 

http://wiki.ros.org/ros_imu_bno055

I initially had trouble getting the calibration of the BNO055 to work/complete as described  in the second reference. The solution I found was to delete the previous calibrations to get a good one to be saved.

I got 3,3,3,3 for the calibration and it saved itself in the correct folder. I did play with different "operations modes" but the last save calibration was for NDOF

During todays work when I look to check the calibration I get anything except 3,3,3,3

there are some examples of the BNO055 loosing its calibration. I check it because the behaviour of the sensor is not exactly consistent 

when I start the bno055 I get this output

Everything looks good.

Currently I have a 90 rotation between the rviz axis and the displayed imu heading.

where should this be corrected in the tf statements of the launch file or somewhere else like in the place where the axis are configured

[BSTRobin]

Hi mdbirley,

For software, we have sensor API to help users configure BNO055, https://github.com/BoschSensortec/BNO055_driver. We know little experience on Adafruit, it is better to ask quetion that how to modify the software on the Adafruit forum.

Thanks for your understanding.