RoboJackets / urc-software

Primary codebase for the RoboNav team's URC rover.

https://robojackets.org/teams/robonav/

MIT License

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Added gyro data #189

Closed davidcalderon03 closed 6 months ago

davidcalderon03 commented 6 months ago

Description

This PR does the following:

Adds gyro data to the IMU
Separated yaw value into a new topic (/yaw) for debugging

Testing Steps (if relevant)

Test Case 1

colcon build
. install/setup.bash
ros2 launch imu_driver imu_serial_driver.launch.py

Expectation: Should publish a sensor_msgs/msg/Imu message to /imu and a yaw (std_msgs/msg/Int32) message to /yaw.

Self Checklist

[x] I have formatted my code using ament_uncrustify --reformat
[x] I have tested that the new behavior works