[sensors] Launch vectornav in bringup.launch.py

.gitmodules

@@ -21,3 +21,7 @@
 	path = external/articubot_one
 	url = https://github.com/joshnewans/articubot_one.git
 	branch = humble
+[submodule "external/vectornav"]
+	path = external/vectornav
+	url = https://github.com/dawonn/vectornav.git
+	branch = ros2

documents/installation/vectornav_imu.md

@@ -0,0 +1,62 @@
+# Launch Instructions for VectorNav with Permission Issues
+
+This document explains how to resolve permission issues for serial devices (like `/dev/ttyUSB0`) and launch the VectorNav package on Linux.
+
+## Prerequisites
+
+1. **Install Necessary Packages**: Ensure all required packages are installed in your workspace and that the workspace is correctly sourced.
+
+2. **Device Permissions**: You’ll need permission to access the device files (e.g., `/dev/ttyUSB0`).
+
+## Steps
+
+### Step 1: Check Device Permissions
+
+1. First, identify the device port:
+   ```bash
+   ls /dev/ttyUSB*
+   ```
+2. Verify your user has permission to access the device. If you see an error or permission denied, proceed with the steps below.
+
+### Step 2: Add User to the `dialout` Group
+
+The `dialout` group typically has access to serial devices. Add your user to this group:
+
+```bash
+sudo usermod -aG dialout $USER
+```
+
+**Note**: Log out and log back in for the group change to take effect. Alternatively, you can restart the system to apply these changes immediately.
+
+### Step 3: Verify Permissions
+
+After re-logging or rebooting, check that you have read and write permissions on the device:
+
+```bash
+ls -l /dev/ttyUSB0
+```
+
+If permissions are set correctly, the output should show that `dialout` has `rw` (read/write) access for `/dev/ttyUSB0`.
+
+### Step 4: Launch VectorNav
+
+Source your ROS workspace, then launch the VectorNav nodes with the appropriate configurations:
+
+```bash
+source ~/Documents/urc/rover-colcon/install/setup.bash
+ros2 launch vectornav vectornav.launch.py
+```
+
+**Note**: Replace the workspace path with the correct path if it’s different on your system.
+
+### Troubleshooting
+
+If you continue to experience issues with permissions, consider checking `dmesg` logs to ensure the device is recognized:
+
+```bash
+dmesg | grep ttyUSB
+```
+
+This command shows messages related to the USB connection and may help diagnose connectivity issues.
+
+--- 

install/.colcon_install_layout

@@ -0,0 +1 @@
+isolated