Add ROS2 control imu

Author: Victor Lopez

pmb2_description/gazebo/gazebo.urdf.xacro

@@ -59,12 +59,6 @@
           </accel>
         </noise>
       </imu>
-      <plugin name="base_imu" filename="libgazebo_ros_imu_sensor.so">
-        <ros>
-          <!-- publish to /imu/data -->
-          <remapping>~/out:=base_imu</remapping>
-        </ros>
-      </plugin>
     </sensor>
   </gazebo>
 

pmb2_description/ros2_control/ros2_control.urdf.xacro

@@ -11,6 +11,7 @@
        name="pmb2" >
 
   <xacro:include filename="$(find pmb2_description)/urdf/wheels/wheel.ros2_control.xacro"/>
+  <xacro:include filename="$(find pmb2_description)/urdf/sensors/sensors.ros2_control.xacro"/>
 
   <ros2_control name="ros2_control_pmb2_system" type="system">
     <hardware>
@@ -20,6 +21,7 @@
     <!-- wheels -->
     <xacro:ros2_control_wheel side="right" />
     <xacro:ros2_control_wheel side="left" />
+    <xacro:ros2_control_imu name="base_imu_sensor"/>
 
   </ros2_control>
 </robot>

pmb2_description/urdf/base/base.urdf.xacro

@@ -97,7 +97,6 @@
     </xacro:antenna>
 
     <!-- IMU -->
-    <!-- @todo pmb2_hardware_gazebo needs an IMU!  -->
     <xacro:imu_sensor name="${name}_imu" parent="${name}_link" update_rate="100.0">
       <origin xyz="0.10171 0 0.11282" rpy="0 0 ${-90 * deg_to_rad}"/>
     </xacro:imu_sensor>

pmb2_description/urdf/sensors/sensors.ros2_control.xacro

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<!--
+  Copyright (c) 2011-2021, PAL Robotics, S.L.
+  All rights reserved.
+
+  This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+  To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+  Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="ros2_control_imu" params="name">
+    <sensor name="${name}">
+      <state_interface name="orientation.x"/>
+      <state_interface name="orientation.y"/>
+      <state_interface name="orientation.z"/>
+      <state_interface name="orientation.w"/>
+      <state_interface name="angular_velocity.x"/>
+      <state_interface name="angular_velocity.y"/>
+      <state_interface name="angular_velocity.z"/>
+      <state_interface name="linear_acceleration.x"/>
+      <state_interface name="linear_acceleration.y"/>
+      <state_interface name="linear_acceleration.z"/>
+    </sensor>
+  </xacro:macro>
+</robot>

pmb2_description/urdf/wheels/wheel.transmission.xacro

@@ -11,7 +11,6 @@ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041
 
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
-  <xacro:include filename="$(find pmb2_description)/urdf/wheels/wheel.transmission.xacro"/>
   <xacro:include filename="$(find pmb2_description)/urdf/wheels/wheel.gazebo.xacro"/>
 
   <xacro:macro name="wheel" params="side reflect radius width torque velocity separation parent">