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remove gravity vector in IMU #187

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merged 1 commit into from
Aug 25, 2023
Merged

remove gravity vector in IMU #187

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2 changes: 1 addition & 1 deletion panther_bringup/config/ekf_config.yaml
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Expand Up @@ -36,7 +36,7 @@ imu0_differential: false
imu0_relative: true
imu0_queue_size: 5

imu0_remove_gravitational_acceleration: true
imu0_remove_gravitational_acceleration: false

reset_on_time_jump: false
predict_to_current_time: false
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2 changes: 1 addition & 1 deletion panther_bringup/config/imu_config.yaml
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Expand Up @@ -10,7 +10,7 @@ imu_filter_node:
use_magnetic_field_msg: true # If set to true, subscribe to the /imu/mag topic as a sensor_msgs/MagneticField; if set to false (deprecated), use geometry_msgs/Vector3Stamped. Only changes type of the message, whether mag data is used is controlled by the use_mag parameter
fixed_frame: imu_link
stateless: false
remove_gravity_vector: false
remove_gravity_vector: true

phidgets_spatial_node:
data_interval_ms: 8 # supported data rates: 4 8 16 24 32 40 ... 1000 (in ms)
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