From d001fe3a47e044e74cb732673a8d4bfeaf46f40c Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 3 Feb 2020 18:32:26 +0100
Subject: [PATCH] Added the operational mode in the configuration file. Set the
calibration file to empty to avoid calibrating the sensor.
---
config/bno055_default_config.yaml | 1 +
launch/bno055_imu_test.launch | 7 ++++---
2 files changed, 5 insertions(+), 3 deletions(-)
diff --git a/config/bno055_default_config.yaml b/config/bno055_default_config.yaml
index d8cd7dd..4355f0c 100644
--- a/config/bno055_default_config.yaml
+++ b/config/bno055_default_config.yaml
@@ -2,3 +2,4 @@ update_rate: 1
serial_device: '/dev/ttyUSB1'
tf_prefix: '/'
frame_id: 'imu'
+mode: 12
diff --git a/launch/bno055_imu_test.launch b/launch/bno055_imu_test.launch
index 239c7b5..b6d7743 100644
--- a/launch/bno055_imu_test.launch
+++ b/launch/bno055_imu_test.launch
@@ -2,12 +2,13 @@
<launch>
<arg name="config_file" default="$(find iri_bno055_imu_bringup)/config/bno055_default_config.yaml" />
- <arg name="calibration_file" default="$(find iri_bno055_imu_bringup)/calibration/bno055.cal" />
+<!-- <arg name="calibration_file" default="$(find iri_bno055_imu_bringup)/calibration/bno055.cal" />-->
+ <arg name="calibration_file" default="" />
<arg name="node_name" default="bno055_imu"/>
- <arg name="output" default="log" />
+ <arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
- <remap from="/imu" to="/imu_data"/>
+ <remap from="/$(arg node_name)/imu" to="/$(arg node_name)/imu_data"/>
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(find iri_bno055_imu_description)/urdf/bno055_imu_example.xacro'" />
--
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