Publish gyro info

.github/workflows/test.yml

@@ -39,6 +39,14 @@ jobs:
         os: [self-hosted]
         python-version: [3.8]
     steps:
+    - name: Check if PR is from owner's repository
+      id: check-owner
+      run: |
+        if [[ "${{ github.actor }}" == "owner_username" ]]; then
+          echo "::set-output name=is_owner::true"
+        else
+          echo "::set-output name=is_owner::false"
+        fi
     - uses: actions/checkout@v3
     - name: Set up Python for Self-Hosted Linux arm64
       uses: iory/[email protected]
@@ -58,7 +66,12 @@ jobs:
         coverage erase
         coverage run -m pytest --junitxml=pytest.xml --cov-report=term-missing:skip-covered tests
         coverage xml
+    - name: Step for Owner's PR Only
+      if: steps.check-owner.outputs.is_owner == 'true'
+      run: |
+        echo "This step runs only for PRs from the owner's PR"
     - name: Pytest coverage comment
+      if: steps.check-owner.outputs.is_owner == 'true'
       uses: MishaKav/pytest-coverage-comment@main
       with:
         pytest-xml-coverage-path: ./coverage.xml

ros/kxr_controller/node_scripts/rcb4_ros_bridge.py

@@ -332,6 +332,9 @@ def create_imu_message(self):
         q_wxyz = self.arm.read_quaternion()
         (msg.orientation.w, msg.orientation.x,
          msg.orientation.y, msg.orientation.z) = q_wxyz
+        _, gyro = self.arm.gyro_norm_vector()
+        (msg.angular_velocity.x, msg.angular_velocity.y,
+         msg.angular_velocity.z) = gyro
         return msg
 
     def run(self):