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added IMU to the ridgeback #499

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added IMU to the ridgeback #499

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1 change: 1 addition & 0 deletions src/hangar_sim/config/config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,7 @@ ros2_control:
# [Optional, default=[]]
controllers_active_at_startup:
- "force_torque_sensor_broadcaster"
- "imu_sensor_broadcaster"
- "joint_state_broadcaster"
- "platform_velocity_controller"
- "vacuum_gripper"
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7 changes: 7 additions & 0 deletions src/hangar_sim/config/control/picknik_ur.ros2_control.yaml
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Expand Up @@ -11,6 +11,8 @@ controller_manager:
type: clearpath_mecanum_drive_controller/MecanumDriveController
platform_velocity_controller_nav2:
type: clearpath_mecanum_drive_controller/MecanumDriveController
imu_sensor_broadcaster:
type: imu_sensor_broadcaster/IMUSensorBroadcaster
vacuum_gripper:
type: position_controllers/GripperActionController
velocity_force_controller:
Expand Down Expand Up @@ -277,6 +279,11 @@ force_torque_sensor_broadcaster:
- torque.z
frame_id: tool0

imu_sensor_broadcaster:
ros__parameters:
sensor_name: imu_site
frame_id: imu_link


velocity_force_controller:
ros__parameters:
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12 changes: 12 additions & 0 deletions src/hangar_sim/description/ur5e_ridgeback.xml
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Expand Up @@ -260,6 +260,15 @@
<body name="rear_right_wheel_link" pos="-0.319 -0.2755 0.12">
<include file="rear_right_wheel_link.xml" />
</body>
<!-- IMU: position from ridgeback.urdf.xacro imu_joint, relative to chassis_link -->
<body name="imu_link" pos="0.2085 -0.2902 0.1681">
<inertial
mass="0.001"
pos="0 0 0"
diaginertia="1e-09 1e-09 1e-09"
/>
<site name="imu_site" pos="0 0 0" size="0.01" rgba="0 1 0 1" />
</body>
<body name="ham_assem" pos="0 0 0.278813" euler="1.5708 -1.57079 0">
<geom
name="ham_assem"
Expand Down Expand Up @@ -574,5 +583,8 @@
<sensor>
<force site="tcp_fts_sensor" />
<torque site="tcp_fts_sensor" />
<framequat objtype="site" objname="imu_site" />
<gyro site="imu_site" />
<accelerometer site="imu_site" />
</sensor>
</mujoco>
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