From 47c88940b9e3bc8decdd5a52c929d94e851e5fa9 Mon Sep 17 00:00:00 2001 From: Sergi Hernandez Juan <shernand@iri.upc.edu> Date: Mon, 3 Feb 2020 18:28:36 +0100 Subject: [PATCH] Added a new parameter to select the operational mode of the sensor. --- cfg/Bno055Imu.cfg | 20 ++++++++++++++++++-- 1 file changed, 18 insertions(+), 2 deletions(-) diff --git a/cfg/Bno055Imu.cfg b/cfg/Bno055Imu.cfg index bfce5cc..d21d2be 100755 --- a/cfg/Bno055Imu.cfg +++ b/cfg/Bno055Imu.cfg @@ -38,12 +38,28 @@ from dynamic_reconfigure.parameter_generator_catkin import * gen = ParameterGenerator() +enum_operation_mode = gen.enum([ +gen.const("accel_only", int_t, 1, "Only enable the accelerometer"), +gen.const("mag_only", int_t, 2, "Only enable the magnetometer"), +gen.const("gyro_only", int_t, 3, "Only enable the gyroscope"), +gen.const("accel_mag", int_t, 4, "Enable both accelerometer and magnetometer"), +gen.const("accel_gyro", int_t, 5, "Enable both accelerometer and gyroscope"), +gen.const("mag_gyro", int_t, 6, "Enable both magnetometer and gyroscope"), +gen.const("accel_mag_gyro", int_t, 7, "Enable all sensors"), +gen.const("imu", int_t, 8, "IMU"), +gen.const("compass", int_t, 9, "Compass"), +gen.const("m4g", int_t, 10, "M4G"), +gen.const("ndof_off", int_t, 11, "ndof off"), +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_STOP, "Data update rate in Hz", 20.0, 1.0, 100.0) -gen.add("serial_device", str_t, SensorLevels.RECONFIGURE_STOP, "Device serial port", "/dev/ttyUSB0") +gen.add("update_rate", double_t, SensorLevels.RECONFIGURE_CLOSE, "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("velocity_scale_factor", double_t, SensorLevels.RECONFIGURE_STOP, "Maximum velocity scale factor", 0.5, 0.0, 1.0) exit(gen.generate(PACKAGE, "Bno055ImuDriver", "Bno055Imu")) -- GitLab