Add default_topics.imu as sensor_msgs/Imu - #878
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Publish accelerometer and gyroscope on both cpp and cflib backends as an opt-in firmware_logging default topic. Convert firmware units (g, deg/s) to SI, mark orientation unavailable, and document the topic. Closes IMRCLab#601
alvgaona
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knmcguire
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Thanks! Just some nitpicks here in there.
Was this PR generated or assisted by an LLM tool by any chance? That is okay in our book but just such that we are aware for the review.
Co-authored-by: Kimberly N. McGuire <kimberleymcguire@gmail.com>
Co-authored-by: Kimberly N. McGuire <kimberleymcguire@gmail.com>
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This PR was generated by me. I was indeed assisted by an LLM to find a good solution. 😄 |
The wrapped comment introduced a trailing space, which failed flake8 with W291 across all build_docker jobs.
Give pose, odom and scan the same message class annotation as imu in the RVIZ2 default topics list, and drop the imu parenthetical so the entries are uniform. Also remove the commented imu block from crazyflies.yaml; not all default topics are listed there and the documentation covers the options.
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Hi @knmcguire, |
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looks good to me! thanks for the updates
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Closes #601
I've added
sensor_msgs/Imuand its corresponding topic to be published out of the box. The implementation is perfectly aligned with the code architecture, and the feature is just additive.The work has been validated on a real Crazyflie 2.1 Brushless by publishing the info via radio and using crazyswarm2 to create the ROS 2 topics. I made a post about it using Rerun to visualize the IMU.
acc: m s^-2andgyro: rad/s