X2DemoMachine, ROS and readme improvements (#52)

- Improved X2Robot ( extended parameters, simplified dynamic parameters estimation, acceleration estimation, etc.)
- X2DemoMachineRos has now access to X2DemoState, this allows publishing state-related parameters in real-time.
- Simplified X2DemoState for demonstration purposes.
- Readme for ROS X2DemoMachine.
- Improved TechnaidIMU class
- FourierHandle(4 buttons) class
------------------------------------------------

* robotName initialization and demomachineRos structure change

* FourierHandle class is added

* fix torque direction

* cmake-build-debug is added to gitignore

* gyro reading feature is added to IMU class

* message_runtime is added to package_xml

* parameter file cleaned. default robot name changed

* Additional features such as simplified dynamic parameter calculation, acceleration estimation is added under X2Robot. a demo state with 4 basic controllers are added.

* message generation related parameters are added to CMakeLists

* minor changes on sim related parameters

* additional dynamic parameters and change of publish rate

* ns parameter is added so that different robot name (therefore kinematic/inertial parameters) can be sued while using the same rviz

* errors during simulation are fixed

* keyboard no echo uncommented

* setting useImu to false for default parameters

* readme for X2DemoMachine is added

* CMakelist parameters are changed back to default for unimelb merge

* debug level changed to info

* added link to the specific page on GettingStarted

* minor readme improvements + spdlog header fix + changed default name to x2

* READme improvements: ros_controller is added under dependencies, initializing the can device is now mentioned

Co-authored-by: emekBaris <baris.kucuktabak@u.northwestern.edu>

Author: emekBaris

.gitignore

@@ -8,4 +8,5 @@ CANopenSocket/canopend/X2_log.txt
 /.devcontainer/devcontainer.json
 /build/*
 bbbxc
-EXO_APP_2020
+EXO_APP_2020
+cmake-build-debug/

CMakeLists.txt

@@ -119,6 +119,7 @@ if(USE_ROS)
 				sensor_msgs
 				geometry_msgs
 				dynamic_reconfigure
+				message_generation
         )
 		if(SIM)
 			find_package(catkin REQUIRED COMPONENTS
@@ -132,6 +133,19 @@ if(USE_ROS)
 				config/x2_dynamic_params.cfg
 		)
 
+		add_message_files(
+				FILES
+				X2Array.msg
+				X2Acceleration.msg
+				X2AccelerationMerge.msg
+		)
+
+		generate_messages(
+				DEPENDENCIES
+				std_msgs
+		)
+
+
 
 		catkin_package(
 				#  INCLUDE_DIRS include
@@ -144,6 +158,7 @@ if(USE_ROS)
 				sensor_msgs
 				geometry_msgs
 				dynamic_reconfigure
+				message_runtime
 				#  DEPENDS system_lib
 		)