lite_biped: real base-IMU ros2_control sensor block - #11
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The lite_biped real (RobStride) branch previously had no IMU -- the base
IMU only existed on the sim/mock combined block (MujocoSystem). Emit a
standalone <ros2_control type="sensor"> block ("LiteBipedIMU") on the
real branch driven by imu.real_plugin, exposing the SAME base_imu
interfaces as sim, so imu_sensor_broadcaster republishes /imu/data
identically on sim and real (no standalone IMU driver node).
- robot_assets generator: _real_imu_block() + thread imu_port through the
real macro / top macro / assembly, conditional on imu.real_plugin
(no-op for robots without a real IMU -- regenerating the fleet only
changes lite_biped)
- ros2_control.json: imu.real_plugin =
humanoid_devices_imu_hardware/YahboomImuSensor, real_block_name, and an
imu_port arg (default /dev/ttyUSB0)
- regenerated lite_biped.ros2_control.xacro + lite_biped.urdf.xacro
Pairs with Berkeley-Humanoids/humanoid_control_ros2 (the YahboomImuSensor
plugin + imu_sensor_broadcaster wiring).
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_012QKJQ9hze1hMWXJpdPcjp3
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Adds a real base-IMU to
lite_bipedso the sameimu_sensor_broadcasterpublishes/imu/dataon sim and real (previously the IMU existed only on the sim/mock block).robot_assets):_real_imu_block()emits a standalone<ros2_control type="sensor">block on the real branch whenros2_control.json'simucarries areal_plugin;imu_portthreaded through the real/top macros + assembly. All conditional — regenerating every robot changes onlylite_biped(verified).ros2_control.json:imu.real_plugin = humanoid_devices_imu_hardware/YahboomImuSensor,real_block_name,imu_portarg.lite_biped.ros2_control.xacro+lite_biped.urdf.xacro(real block exposes the same 10base_imuinterfaces as sim; well-formed;test_ros2_artifactsinvariants hold).Pairs with Berkeley-Humanoids/humanoid_control_ros2 (the
YahboomImuSensorplugin +imu_sensor_broadcasterwiring) — merge together.🤖 Generated with Claude Code
https://claude.ai/code/session_012QKJQ9hze1hMWXJpdPcjp3