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Add andino IMU #181

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wants to merge 24 commits into from
Closed

Add andino IMU #181

wants to merge 24 commits into from

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ivanpauno
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@ivanpauno ivanpauno commented Nov 24, 2023 •
edited by gonzodepedro
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🎉 New feature

Adds IMU support. Realtes to #50

Summary

Requires #215 into firmware.

This is only configures broadcasting from ROS control.
More details:

  • Adds simulation
  • Modifies diff drive and andino base
  • Adds imu to urdf

Test it

Checklist

  • Signed all commits for DCO
  • Added tests
  • Added example and/or tutorial
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • Consider updating Python bindings (if it affects the public API)

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

@ivanpauno
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@gonzodepedro I think you need to push your changes for simulation and URDF to this branch.

@ivanpauno
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I will fix linters and DCO sometime this week.
If I don't have time, I can take a look after my Vacations (i.e. on January) if it's still pending.

@gonzodepedro
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@gonzodepedro I think you need to push your changes for simulation and URDF to this branch.

Fixed

jballoffet and others added 22 commits January 7, 2024 13:15
@jballoffet
Add Shell class
f0ab17d 
Signed-off-by: Javier Balloffet <javier.balloffet@gmail.com>
@jballoffet
Improve command prompt parsing
dfaa85d 
Signed-off-by: Javier Balloffet <javier.balloffet@gmail.com>
@ivanpauno
Add dependencies for BNO055
eb40c17 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Added arduino code
2cad5d2 
Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

Remove space

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

Added Imu to ros control

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>
@ivanpauno
Add ros2_control state interfaces for IMU
4f7afd2 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
fix random typo
d24be5e 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
remove code not needed
1d32955 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@fbaglivo
Fix sensor tag closure in xacro file.
984362e
@ivanpauno
Add missing param
96fa755 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
Fix state interface imu data to read
1d65341 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
remove copied code
58fd6ab 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
Spawn imu controller
6153f7c 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
fix
e2d8bbc 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
Fix state interface names (maybe)
3c4878e 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
Same for ros control urdf
708e2e7 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
Fix post rebasing errors
dc526b5 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno
Add Arduino IDE dependencies in README
027f15b 
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Gazebo changes
ebd2f68 
Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>
andino urdf
1f4eadb 
Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>
Fixed dangling conflicts
67dbca1 
Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>
Added commands for imu
2228688 
Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>
Fixed has imu command variable name
5de88d1 
Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>
@gonzodepedro gonzodepedro force-pushed the ivanpauno/andino-imu-rebased branch from 172e5f4 to 5de88d1 Compare January 16, 2024 20:20
Remove andino firmware changes
6904fd5 
Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>
@gonzodepedro gonzodepedro mentioned this pull request Jan 24, 2024
Merged
6 tasks
@jballoffet jballoffet marked this pull request as draft May 12, 2024 22:14
@francocipollone francocipollone self-assigned this May 14, 2024
@francocipollone francocipollone mentioned this pull request May 14, 2024
Merged
@jballoffet jballoffet changed the base branch from humble to ivanpauno/andino-imu-rebased May 15, 2024 10:39
@jballoffet jballoffet changed the base branch from ivanpauno/andino-imu-rebased to humble May 15, 2024 10:41
@jballoffet
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jballoffet commented May 15, 2024 •
edited
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@ivanpauno, now that #215 has been merged, I would like to lend a hand here so as to have this PR submitted as well.

In order to do so (and avoid losing your contributions), could you please extract only the changes to andino_base package, have them pushed to ivanpauno/add-imu-support-to-base-pkg and create a PR? Please notice that I have created said branch on this repo so as to be able to lend a hand by pushing changes to it.

Thanks!

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Changes added to ivanpauno/add-imu-support-to-base-pkg branch on #265.

@jballoffet jballoffet closed this Aug 9, 2024
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@francocipollone francocipollone Awaiting requested review from francocipollone francocipollone is a code owner

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@ivanpauno @gonzodepedro @jballoffet @francocipollone @fbaglivo