RoboticaUtnFrba / create_autonomy

ROS autonomy stack for iRobot Create 2.

BSD 3-Clause "New" or "Revised" License

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Add real IMU #209

Closed eborghi10 closed 4 years ago

eborghi10 commented 4 years ago

Description

This PR is part of the milestone to setup robot_localization and adds a an IMU to the real robot.

Type of change

Please delete options that are not relevant.

[ ] Bug fix (non-breaking change which fixes an issue)
[ ] New feature (non-breaking change which adds functionality)
[X] Breaking change (fix or feature that would cause existing functionality to not work as expected)
[X] This change requires a documentation update

How Has This Been Tested?

# To test in the real robot:
RVIZ=true roslaunch ca_bringup minimal.launch

Make sure the ROS topics exist.

TODO:

[x] Check if it's possible to not install RTIMULib with sudo
[x] The axis are rotating inverted

Test Configuration:

[X] Real robot
[ ] Gazebo simulation
[ ] Other (please specify)

Checklist:

[x] My code follows the style guidelines of this project (Travis CI is passing)
[x] I have performed a self-review of my own code
[x] I have commented my code, particularly in hard-to-understand areas
[x] I have made corresponding changes to the documentation
[x] My changes generate no new warnings
[x] I have added tests that prove my fix is effective or that my feature works
[x] New and existing unit tests pass locally with my changes