Jodan/ahrs imu

[Zyodooon]

No description provided.

[Copilot]

Pull request overview

This PR updates the robot documentation/topology to reflect an integrated arm + gripper Dynamixel driver, and introduces a new ROS 2 package for the HWT901B AHRS IMU (arm IMU) that publishes IMU and magnetometer topics.

Changes:

• Update system/network topology diagrams and architecture docs to remove the standalone gripper_driver and show arm_driver handling both arm + gripper on a combined Dynamixel bus.
• Add a new hwt901b_imu ROS 2 (ament_cmake) package with a C++ node that parses HWT901B serial frames and publishes sensor_msgs/Imu and sensor_msgs/MagneticField.
• Update root README with an architecture diagram and refresh the hardware interface table.

Reviewed changes

Copilot reviewed 10 out of 10 changed files in this pull request and generated 7 comments.

Show a summary per file

File	Description
main_ws/topology/system_topology.mmd	Updates manipulation graph to route gripper cmd/status through arm_driver and represent unified Dynamixel hardware.
main_ws/topology/network_topology.mmd	Updates robot hardware + ROS node connectivity to reflect unified arm+gripper device and removal of gripper_driver.
docs/ARCHITECTURE.md	Adjusts component list to describe arm_driver as the integrated arm+gripper driver.
README.md	Adds an architecture diagram and updates the hardware table for the integrated arm+gripper setup.
main_ws/src/perception/arm_imu/src/hwt901b_imu_node.cpp	New HWT901B IMU ROS 2 node implementation (serial parsing + publishing).
main_ws/src/perception/arm_imu/include/hwt901b_imu/hwt901b_imu_node.hpp	Header for the new IMU node.
main_ws/src/perception/arm_imu/CMakeLists.txt	Build/install rules for the new hwt901b_imu_node executable.
main_ws/src/perception/arm_imu/package.xml	New ROS 2 package manifest for hwt901b_imu.
main_ws/src/perception/arm_imu/ARM_IMU_NOTES.md	Sensor notes/spec reference for HWT901B framing and configuration.
main_ws/src/perception/arm_imu/todo.md	Initial TODO list for arm IMU work.

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[Zyodooon]

まだやること残ってたので一旦クローズします