I highly encourage you to go visit farms sooner rather than later, especially during the rainy seasons and winter when farmers are really at work preparing for the next season. The kind of conditions robots need to deal with in that environment is no joke.

I also notice you're using the BNO055 -- if you need an C++ I2C ROS driver for it I wrote one (https://github.com/dheera/ros-imu-bno055). I think the one in the ROS apt-get repository is written in Python but they claimed the package name before I did

Good advice on farms. I do live on a farm, so somewhat familiar with mud! Many of the worst problems are caused by moving 20ton tractors around IMHO, one of the problems small scale ag robotics may help with.

Will check out your Bno055 currently using the upstream one in Lizard

https://github.com/zauberzeug/lizard/blob/main/main/modules/... https://github.com/zauberzeug/lizard/blob/main/main/modules/...

Any review of that welcome too of course.