ROS 进阶学习笔记(19)-- Add Extra Gyro Sensor for ROOMBA-Based Turtlebot

===Add Extra Gyro Sensor for ROOMBA-Based Turtlebot===

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== Background of this problem ==

As I'm following the book "ros by example_hydro_vol1" written by R. Patrick Goeble, In order to follow the instances in that book, I implemented a turtlebot-like turtlebot based on the iRobot Create2/ROOMBA_5xx/ROOMBA_6xx/etc. One of the big differences should be that the original turtlebot is based on the "iRobot Create" which has a 25pin( img) connector and the driver for it "turtlebot_driver"(ROS package) is written for that connector. ref link. But, the iRobot Create2/ROOMBA_5xx/ROOMBA_6xx/etc has no 25pin connector.

I guess that 25pin-connector receives analog voltage values and send back to the Controller(Ubuntu-PC) through the 7pin Mini-DIN Connector via the RS232-USART serial protocol on TTL voltage. (refer: Calibrate Odometry and Gyro - ROS wiki )

== Background knowledge about this problem ==

Before handling this, you should be a little familiar about ROS and ROS repositories.
You should have the items below:

•   Learned all the tutorials for ROS beginners and know what is stack/package/catkin/topic/node/msg/launch/parameter/../etc.
•   Known basic concepts/ideas about OOP/C++/python

== The structure of source code files about this problem ==

As the background I have described, I'm following the rbx( Ros by Example) package and steps. But the rbx packages/launch_files are developed based on the turtlebot stacks (which contains turtlebot_bringup<-turtlebot_node<-turtlebot_driver<-...) from ROS repositories. So, We will look into turtlebot stacks and find how does the gyro data processed/transferred by