Add IMU as a separate plugin of ros2_control hardware interface

[ahcorde]

Add IMU as a separate plugin of ros2_control hardware interface

[akshatpandya]

Hi @ahcorde I'd like to take up this task. Can you guide me as to how to proceed and what do we want to implement?

[destogl]

Hi @akshatpandya, are you still interested into this? I can guide you if you want.

This probably means that IMU is added as implementation of "SensorInterface"

This would also lead to more specific plugins for different sensors, e.g., IMU and FTS.

[akshatpandya]

Hi @destogl, yes I'm interested in taking up this issue.

[destogl]

@akshatpandya, sorry I missed your comment. Here the list of tasks that I think has to be done for this functionality. (@ahcorde feel free to extend/correct as you think).

• all files should be added into ign_ros2_control package
• [ ] Create header file ignition_sensor_interface.hpp with IgnitionSensorInterface class inheriting hardware_interface::SensorInterface (similar to ignition_system_interface.hpp file
• [ ] Create ign_imu_sensor.hpp file similar to the ign_system.hppfile
• [ ] Implement ign_imu_sensor.cpp file (For the interface names try using standard names defined in IMU semantic_component from ros2_control package)

Please let me know if you have any questions.

[akshatpandya]

@destogl thanks for the explanation. I'll take up this task and keep you updated.

[jclinton830]

Has anyone made any progress on this? Currently Nav2 tutorials found here only shows how to add an IMU for simulation in Gazebo Classic. Is something similar currently available for Ignition? @destogl