update yaw tracking pid(pos2vel)

Author: tz61

decomposition/metav_description/urdf/hero/hero.xacro

@@ -55,10 +55,7 @@
             </hardware>
             <joint name="yaw_gimbal_joint">
                 <command_interface name="position"/>
-                <command_interface name="velocity">
-                    <param name="min">-0.1</param>
-                    <param name="max">0.1</param>
-                </command_interface>
+                <command_interface name="velocity"/>
                 <command_interface name="effort"/>
                 <state_interface name="position" />
                 <state_interface name="velocity" />
@@ -72,7 +69,7 @@
                 <param name="offset">0.0</param>
                 <param name="control_mode">mit</param>
                 <param name="Kp">0.0</param>
-                <param name="Kd">0.5</param>
+                <param name="Kd">0.5</param> <!-- bigger, better velocity track speed-->
             </joint>
         </ros2_control>
         <ros2_control name="mi_motors_pitch" type="system">

meta_bringup/config/hero.yaml

@@ -21,7 +21,12 @@ controller_manager:
         type: forward_command_controller/ForwardCommandController
     forward_yaw_controller:
         type: forward_command_controller/ForwardCommandController
-
+    dm_imu_sensor_broadcaster:
+      type: imu_sensor_broadcaster/IMUSensorBroadcaster
+dm_imu_sensor_broadcaster:
+  ros__parameters:
+    sensor_name: "dm_imu"
+    frame_id:  "dm_imu_frame"
 omni_chassis_controller:
   ros__parameters:
     omni_wheel_joints:
@@ -86,7 +91,7 @@ gimbal_position_controller:
     imu_sensor: dm_imu
     gains:
       yaw_gimbal_joint_pos2vel:
-        { p: 7.0, i: 0.0, d: 0.1, i_clamp_max: 1.0, i_clamp_min: -1.0, antiwindup: true }
+        { p: 20.0, i: 0.0, d: 0.2, i_clamp_max: 1.0, i_clamp_min: -1.0, antiwindup: true }
 
 
 shoot_controller:

meta_bringup/launch/hero.launch.py

@@ -102,6 +102,7 @@ def generate_launch_description():
         load_controller('gimbal_position_controller'),
         load_controller('omni_chassis_controller'),
         load_controller('shoot_controller'),
+        load_controller('dm_imu_sensor_broadcaster'),
         # load_controller('forward_yaw_controller'),
         # load_controller('forward_pitch_controller')
     ]