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The Octomap is not a relaible representation of obstacles when sim:=mock. Currently, the instructions ask developers to manually modify the sensors_3d.yaml file when running in mock. Instead, the ada_moveit launchfile(s) themselves should ignore sensors_3d.yaml when sim is mock.

#11 currently breaks ADA MoveIt in sim, because it results in two disconnected TF trees: world->root and root_tilt->{entire robot}. It is missing root->robot_tile->root_tilt, which is published by the IMU joint state publisher.

This Issue is for the following:

1. Add a sim argument to ada_imu.launch.py and a corresponding parameter to imu_jointstate_publisher.py. This argument should be able to take on values of either mock or real.
2. In imu_jointstate_publisher.py, if sim!="real", then don't load the serial port and always assume the imu_angle is 0 (here).
3. In ada_moveit demo.launch.py, include ada_imu.launch.py with the sim argument set to the same value that is passed in to the moveit launch file.

The servo node allows us to pass in a parameter specifying where the primary planning scene monitor will publish updates, so its planning scene can also be updated. (code here). We do not currently use that parameter, but should

Note that the above change does not address the issue where the Servo node doesn't account for Octomap collisions, see moveit2#2548.

So that it doesn't stop the build process if Kinova SDK is not installed (e.g., you're running it in sim)

Currently, when the IMU is disconnected, the code immediately start assuming that the IMU angle is zero. However, this is not good (e.g., if there is a momentary issue with IMU communication that is quickly resolved). Instead, the code should store the latest IMU angle and use that if communications are disrupted.

This doesn't need to be a priority right now, but it would be great to have documentation on how to run this. In particular, given where we are in system development right now, it would be great to have documentation on what to run to get ADA and MoveIt running in RVIZ, so we can see the robot and either use the RVIZ GUI or manually call the action servers in order to move the robot.

(I think Ethan has already sent these instructions in various Slack messages, so this might just involve cobbling those together.)

Low Priority

Add ament_black as a dependency

Make sure all packages pass ament_copyright.

Make sure all python packages pass ament_pep257 and ament_black.

Make sure all CPP packages pass ament_cmake_copyright and ament_cmake_clang_format.