chore(imu): align package with the IDMind bible - #4
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Documentation (bible: Documentation) - README.MD rewritten to match the source: v2 node, namespaced topics, full topic/service/parameter tables with types and defaults. The old README described the wrong node prefix, called `euler` degrees (it is radians) and omitted several publishers, the `auto_reconnect` param and the `standby` service. Dependencies (bible: Dependencies) - Add requirements.txt for the pip-only `tinkerforge` bindings, which rosdep cannot provide. Logging (bible: Logging) - imu_brick_node_v2 main() logs shutdown through the ROS logger instead of print(). Style / PEP 8 / PEP 257 (bible: Code Style) - Fix the flake8 (E501, E221) and pep257 (D401, D213) findings in imu_brick_node_v2.py and setup.py so `colcon test` is green. - Exclude the frozen legacy imu_brick_node.py from the style linters (it is kept for reference per CLAUDE.md and deliberately not restyled). - Populate the empty .gitignore. Not addressed here (tracked for the C++ refactor track): node logic is not separated from ROS, MultiThreadedExecutor vs SingleThreadedExecutor, `std_msgs` primitive topics (euler/timer/calibration), and the absent functional test suite. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01CkJzZY8CRBa3MgTyEimHZj
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Audits
idmind_imumasteragainst~/idmind-bible(ROS 2 + Python guides) and fixes the deviations that are safe on this legacy Python node. Branched frommasterafter #3.Fixed
README.MDrewritten to match the source — v2 node, namespaced topics, full topic/service/parameter tables (type + default). The old file used the wrong topic prefix, called~/eulerdegrees (it publishes radians), and omitted~/gravity,~/calibration,~/timer, theauto_reconnectparameter and the~/standbyservice.requirements.txtfor the pip-onlytinkerforgebindings (not in rosdep). Referenced from the README andCLAUDE.md.imu_brick_node_v2.main()logs shutdown through the ROS logger instead ofprint().ament_flake8(E501, E221) andament_pep257(D401, D213) findings inimu_brick_node_v2.pyandsetup.py. Excluded the frozen legacyimu_brick_node.pyfrom the style linters (kept for reference perCLAUDE.md, deliberately not restyled). Populated the empty.gitignore.colcon buildclean;colcon testnow green (was failing flake8 + pep257 onmaster). Node behaviour verified unchanged with a stubbed-import harness (services register, standby suspends/resumes publishing).Not addressed — needs the C++ refactor, not a patch here
These are real bible deviations but each is an architectural change to an untested hardware node, and the
refactor-cppbranch already addresses all of them:MultiThreadedExecutor(num_threads=6); bible prefersSingleThreadedExecutor.~/euler,~/timer,~/calibrationusestd_msgsprimitives (Float32/UInt8MultiArray).~/standbyusesstd_srvs/SetBool, consistent with the existing~/ready(std_srvs/Trigger); switch to anidmind_base_msgsequivalent if one is preferred.🤖 Generated with Claude Code
https://claude.ai/code/session_01CkJzZY8CRBa3MgTyEimHZj