From e0d9967f606afeae2d536ad4364a62d8e4519ca5 Mon Sep 17 00:00:00 2001
From: add <cneves@idmind.pt>
Date: Thu, 3 Mar 2022 16:09:38 +0000
Subject: [PATCH] Fixed bug not calling set_sensor_unit when no calibration
 file is loaded

---
 src/bno055_imu_ros_driver.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/bno055_imu_ros_driver.cpp b/src/bno055_imu_ros_driver.cpp
index 3dfa702..544384b 100644
--- a/src/bno055_imu_ros_driver.cpp
+++ b/src/bno055_imu_ros_driver.cpp
@@ -73,6 +73,7 @@ bool Bno055ImuDriver::startDriver(void)
   {
     try{
       this->imu_device->set_operation_mode(config_mode);
+      this->imu_device->set_sensor_units(false,true);
       this->imu_device->set_data_rate(this->config_.update_rate);
       this->imu_device->set_accel_config(this->config_.accel_range,this->config_.accel_bandwidth,this->config_.accel_pwr_mode);
       this->imu_device->set_gyro_config(this->config_.gyro_range,this->config_.gyro_bandwidth,this->config_.gyro_pwr_mode);
-- 
GitLab