Add andino IMU

[ivanpauno]

🎉 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]

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

[ivanpauno]

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]

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

Fixed

[jballoffet]

@ivanpauno, now that https://github.com/Ekumen-OS/andino/pull/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!

[jballoffet]

Changes added to ivanpauno/add-imu-support-to-base-pkg branch on https://github.com/Ekumen-OS/andino/pull/265.