Connect your prepared Raspberry Pi 4 + ADI IMU to a Windows desktop using Docker (WSL2/WSLg). Run the ROS 2 IMU node, verify sensor data, and launch RViz2 to visualize orientation in real-time.
Setup:
- Windows 11, Docker Desktop (WSL 2 backend), WSL Ubuntu 22.04 with WSLg GUI
- Raspberry Pi 4 on Kuiper Linux with IIOD enabled and reachable over the network
Start a GUI-capable container (WSLg):
docker run --rm -it --privileged \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-v /mnt/wslg:/mnt/wslg \
-e DISPLAY -e WAYLAND_DISPLAY -e XDG_RUNTIME_DIR -e PULSE_SERVER \
adi_ros2:humble-amd64-desktop bash
References:
- adi_imu example: https://analogdevicesinc.github.io/adi_ros2/humble/adi_imu/index.html#using-adi-imu-node-with-imu-tools
