Add publisher for base IMU on /imu_lowstate#6
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LouKordos wants to merge 2 commits intoUnitree-Go2-Robot:refactoring-featuresfrom
Open
Add publisher for base IMU on /imu_lowstate#6LouKordos wants to merge 2 commits intoUnitree-Go2-Robot:refactoring-featuresfrom
LouKordos wants to merge 2 commits intoUnitree-Go2-Robot:refactoring-featuresfrom
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Description
As discussed in Issue 41 of the
go2_robotrepository, there is currently no topic for the base IMU data in a standard ROS2sensor_msgsformat being published.This PR is a simple adjustment to the callback that handles the
lowstatemessages of the Go2, extracing the IMU state and publishing it under `/imu_lowstate´.Checklist
Screenshots / Images / Videos
Unfortunately, I am not at the office right now but I tested it and already used the topic in my code. A simple
ros2 topic listandros2 topic echoand comparing to the data reported by `/lowstate´ shows that it's functioning correctly.