laas/morse — pull request #91 by flixr (2012-08-11 12:39:17+00:00)
Title: [sensor] imu sensor with correct angular velocity and acceleration

This sensor more correctly resembles an actual IMU sensor

* Acceleration due to gravity is measured by the imu as well
* The measurements are given in the IMU coordinate system,
so the location and rotation of the IMU with respect to the robot
is taken into account.

Also:
* matrix_parent_inverse is identity again (so you don't get a weird locaiton offset
* IMU mesh size is fixed (is now 3cm big, assuming 1BU = 1m)

"Limitations" compared to the old IMU sensor
* The parent robot needs to have physics enabled
* Distance and linear velocity is not included anymore, since a real IMU does not measure that
* The ROS bindings for odometry and velocity twist can't be used anymore
* This should be done via a different sensor