11 currently breaks ADA MoveIt in sim, because it results in two disconnected TF trees: world->root and root_tilt->{entire robot}. It is missing root->robot_tile->root_tilt, which is published by the IMU joint state publisher.
This Issue is for the following:
Add a sim argument to ada_imu.launch.py and a corresponding parameter to imu_jointstate_publisher.py. This argument should be able to take on values of either mock or real.
In imu_jointstate_publisher.py, if sim!="real", then don't load the serial port and always assume the imu_angle is 0 (here).
In ada_moveitdemo.launch.py, include ada_imu.launch.py with the sim argument set to the same value that is passed in to the moveit launch file.
11 currently breaks ADA MoveIt in sim, because it results in two disconnected TF trees:
world->rootandroot_tilt->{entire robot}. It is missingroot->robot_tile->root_tilt, which is published by the IMU joint state publisher.This Issue is for the following:
simargument toada_imu.launch.pyand a corresponding parameter toimu_jointstate_publisher.py. This argument should be able to take on values of eithermockorreal.imu_jointstate_publisher.py, ifsim!="real", then don't load the serial port and always assume theimu_angleis 0 (here).ada_moveitdemo.launch.py, includeada_imu.launch.pywith thesimargument set to the same value that is passed in to the moveit launch file.