Publish gyro info

[708yamaguchi]

Publish gyro info as well as accelerometer info.

$ rostopic echo /imu

Before

header: 
  seq: 72
  stamp: 
    secs: 1704953902
    nsecs: 635263919
  frame_id: "/bodyset94472077639384"
orientation: 
  x: 0.989590585231781
  y: 0.13808977603912354
  z: 0.020743228495121002
  w: 0.03468123450875282
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity: 
  x: 0.0
  y: 0.0
  z: 0.0
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration: 
  x: 0.0
  y: 0.0
  z: 0.0
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

After

header:                   
  seq: 1080                                                          
  stamp:         
    secs: 1704977204    
    nsecs: 487167119     
  frame_id: "/bodyset94472077639384"
orientation:                                                              
  x: 0.13125546276569366
  y: 0.9903165698051453
  z: 0.04510028660297394
  w: -0.0015717060305178165
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]        
angular_velocity:
  x: 0.33313000202178955      
  y: -0.6373499631881714
  z: -0.36155006289482117
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
  x: 0.0
  y: 0.0
  z: 0.0
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

[708yamaguchi]

My test code

#!/usr/bin/env python
import rospy
from sensor_msgs.msg import Imu


def callback(msg):
    x_impact = msg.angular_velocity.x ** 2
    y_impact = msg.angular_velocity.y ** 2
    z_impact = msg.angular_velocity.z ** 2
            
    if x_impact > 500:
        rospy.loginfo("Detect touch, x axis. {}".format(x_impact))
    if y_impact > 500:
        rospy.loginfo("Detect touch, y axis. {}".format(y_impact))
    if z_impact > 500:
        rospy.loginfo("Detect touch, z axis. {}".format(z_impact))

def listener():
    rospy.init_node('listener', anonymous=True)
    rospy.Subscriber("imu", Imu, callback, queue_size=10)
    rospy.spin()

if __name__ == '__main__':
    listener()

[iory]

LGTM!