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.