Port of: Added gyro interface to robot controllers

[cjds]

This is a port of this PR https://github.com/fetchrobotics/robot_controllers/pull/42 with the requested changes

From that PR

Description

Need to provide controller direct access to gyro data though controller interface.

Reason

The gyro will be used to stabilize the wheel controller in situations when wheels start slipping or when wheels have to go over bumps

Tests

Code compiles but will need to be tested

@mikeferguson FYI since you commented on prior PR

[dbking77]

Actually it looks like melodic uses c++14 by default, so using and auto and range for loops should be fine. http://wiki.ros.org/melodic/Migration

[cjds]

All comments have been addressed

[knorth55]

The gyro will be used to stabilize the wheel controller in situations when wheels start slipping or when wheels have to go over bumps

@cjds We are have same problem, and we have a question. How can we enable this feature, which stabilizes controller when wheels are slipping?

[cjds]

@knorth55 we're using this in our internal controller. Which controller are you using? I can probably port a version of this into that controller.

The version we are using is pretty basic and we don't expect it to do too much.

Can you get me a bag of the robot slipping?

Topics I would be interested in are:

base_controller/*
/cmd_vel 
/imu
/odom_raw
/joint_states

I think you may have to wait for our noetic release to use this maybe @erelson @narora1 FYI

[knorth55]

@cjds Thank you for quick response.

we're using this in our internal controller. Which controller are you using? I can probably port a version of this into that controller. The version we are using is pretty basic and we don't expect it to do too much.

For base controller, we are using default one robot_controllers/DiffDriveBaseController. I'm really looking forward to trying new controllers.

Can you get me a bag of the robot slipping?

I will collect and give you good example rosbag of the problem. The slipping problem often occurs because our lab's floor is tile carpet.