Gravity doesnt work

RoboJackets · Nov 24, 2024 · 2263fbc · 2263fbc
1 parent 1018543
commit 2263fbc
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/urc_localization/config/ekf.yaml b/urc_localization/config/ekf.yaml
@@ -22,7 +22,7 @@ ekf_filter_node_odom:
     imu0_differential: false
     imu0_relative: false
     imu0_queue_size: 10
-    imu_remove_gravitational_acceleration: false
+    imu_remove_gravitational_acceleration: true
 
     use_control: false
     process_noise_covariance: [0.05, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
@@ -106,7 +106,7 @@ ekf_filter_node_map:
     imu0_differential: false
     imu0_relative: false
     imu0_queue_size: 10
-    imu_remove_gravitational_acceleration: false
+    imu_remove_gravitational_acceleration: true
 
     use_control: false
     process_noise_covariance: [0.05, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,