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personalrobotics / ada_ros2

ROS2 Hardware Interface and Description for the ADA Robot

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Add sim for `ada_imu`

amalnanavati opened this issue · comments

commented

#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:

  1. 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.
  2. In imu_jointstate_publisher.py, if sim!="real", then don't load the serial port and always assume the imu_angle is 0 (here).
  3. In ada_moveit demo.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.