bringup: add madgwick support

Enable madgwick filter to fuse imu and magnetometer.

Signed-off-by: Thomas Chou <thomas@wytron.com.tw>

linorobot2_bringup/launch/bringup.launch.py

@@ -87,12 +87,26 @@ def generate_launch_description():
             description='EKF out odometry topic'
         ),
 
+        DeclareLaunchArgument(
+            name='madgwick',
+            default_value='false',
+            description='Use madgwick to fuse imu and magnetometer'
+        ),
+
         DeclareLaunchArgument(
             name='joy', 
             default_value='false',
             description='Use Joystick'
         ),
 
+        Node(
+            condition=IfCondition(LaunchConfiguration("madgwick")),
+            package='imu_filter_madgwick',
+            executable='imu_filter_madgwick_node',
+            name='madgwick_filter_node',
+            output='screen',
+        ),
+
         Node(
             package='robot_localization',
             executable='ekf_node',

linorobot2_bringup/package.xml

@@ -10,6 +10,7 @@
   <url type="repository">https://github.com/linorobot/linorobot2</url>
   <url type="bugtracker">https://github.com/linorobot/linorobot2/issues</url>
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <exec_depend>imu_tools</exec_depend>
   <exec_depend>robot_localization</exec_depend>
   <exec_depend>joy_linux</exec_depend>
   <exec_depend>teleop_twist_joy</exec_depend>