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ros-industrial / ur_modern_driver

(deprecated) ROS 1 driver for CB1 and CB2 controllers with UR5 or UR10 robots from Universal Robots
Apache License 2.0
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Add Imu hardware interface #308

Closed ikalevatykh closed 2 years ago

ikalevatykh commented 5 years ago

Added Imu hardware interface. We use this data in our controllers, it may be useful for others.

gavanderhoorn commented 5 years ago

Thanks for this PR.

High-level first comment: the resource handle is passed "imu" as a name. I feel that is a bit too generic.

IIRC, the IMU is located in the last link of the wrist, correct? Perhaps we should add that as a prefix to the handle name to better convey which imu resource this is.