Chnaged the driver state to change the rate and operational mode from CLOSE to STOP.

Not calibrated messages as DEBUG.

cfg/Bno055Imu.cfg

@@ -54,12 +54,12 @@ gen.const("ndof", int_t, 12, "ndof")
 ], "Possible operation modes.")
 
 #       Name                       Type       Reconfiguration level            Description                       Default   Min   Max
-gen.add("update_rate",             double_t,  SensorLevels.RECONFIGURE_CLOSE,   "Data update rate in Hz",         20.0,     1.0,  100.0)
+gen.add("update_rate",             double_t,  SensorLevels.RECONFIGURE_STOP,   "Data update rate in Hz",         20.0,     1.0,  100.0)
 gen.add("serial_device",           str_t,     SensorLevels.RECONFIGURE_CLOSE,  "Device serial port",             "/dev/ttyUSB1")
 gen.add("cal_filename",            str_t,     SensorLevels.RECONFIGURE_STOP,   "Sensor calibration data",        "")
 gen.add("tf_prefix",               str_t,     SensorLevels.RECONFIGURE_STOP,   "TF prefix",                      "")
 gen.add("frame_id",                str_t,     SensorLevels.RECONFIGURE_STOP,   "IMU frame_id in the urdf file",  "")
-gen.add("mode",                    int_t,     SensorLevels.RECONFIGURE_CLOSE,  "Operation mode",                 12,       1,    12, edit_method=enum_operation_mode)
+gen.add("mode",                    int_t,     SensorLevels.RECONFIGURE_STOP,   "Operation mode",                 12,       1,    12, edit_method=enum_operation_mode)
 #gen.add("velocity_scale_factor",  double_t,  SensorLevels.RECONFIGURE_STOP,   "Maximum velocity scale factor",  0.5,      0.0,  1.0)
 
 exit(gen.generate(PACKAGE, "Bno055ImuDriver", "Bno055Imu"))

src/bno055_imu_ros_driver.cpp

@@ -57,7 +57,6 @@ bool Bno055ImuDriver::startDriver(void)
       this->imu_device->load_calibration(this->config_.cal_filename);
       this->imu_device->set_operation_mode((op_mode_t)this->config_.mode);
       this->imu_device->set_data_rate(this->config_.update_rate);
-      ROS_INFO("IMU successfully started");
       this->unlock();
       return true;
     }catch(CException &e){
@@ -72,7 +71,6 @@ bool Bno055ImuDriver::startDriver(void)
       this->imu_device->set_operation_mode(config_mode);
       this->imu_device->set_data_rate(this->config_.update_rate);
       this->imu_device->set_operation_mode((op_mode_t)this->config_.mode);
-      ROS_INFO("IMU successfully started");
       this->unlock();
       return true;
     }catch(CException &e){
@@ -108,10 +106,11 @@ void Bno055ImuDriver::config_update(Config& new_cfg, uint32_t level)
   switch(this->getState())
   {
     case iri_base_driver::CLOSED:
-      this->frame_id=new_cfg.tf_prefix+"/"+new_cfg.frame_id;
       break;
 
     case iri_base_driver::OPENED:
+      this->imu_device->set_data_rate(new_cfg.update_rate);
+      this->frame_id=new_cfg.tf_prefix+"/"+new_cfg.frame_id;
       break;
 
     case iri_base_driver::RUNNING:
@@ -206,11 +205,11 @@ bool Bno055ImuDriver::is_imu_calibrated(void)
       else
       {
         if(!accel_cal)
-          ROS_WARN("Accelerometer not calibrated: Move the sensor slowly to six different positions and hold it steady for a few seconds");
+          ROS_DEBUG("Accelerometer not calibrated: Move the sensor slowly to six different positions and hold it steady for a few seconds");
         if(!mag_cal)
-          ROS_WARN("Magnetometer no calibrated: Move the sensor randomly");
+          ROS_DEBUG("Magnetometer no calibrated: Move the sensor randomly");
         if(!gyro_cal)
-          ROS_WARN("Gyroscope not calibrated: Hold the sensor steady at any position for a few seconds");
+          ROS_DEBUG("Gyroscope not calibrated: Hold the sensor steady at any position for a few seconds");
         return false;
       }
     }catch(CException &e){