Commit e8f12234 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Removed imu from global ekf

parent 09b792ee
......@@ -9,7 +9,7 @@ use_control: true
control_config: [true, true, false, false, false, true]
publish_tf: true
publish_tf: false
map_frame: map
odom_frame: adc_car/odom
base_link_frame: adc_car/base_footprint
......@@ -22,15 +22,15 @@ odom0_config: [false, false, false,
false, false, true,
false, false, false]
imu0: /adc_car/sensors/imu_data
imu0_config: [false, false, false,
false, false, false,
false, false, false,
false, false, true,
false, false, false]
# imu0: /adc_car/sensors/imu_data
# imu0_config: [false, false, false,
# false, false, false,
# false, false, false,
# false, false, true,
# false, false, false]
imu0_differential: false
imu0_relative: true
# imu0_differential: false
# imu0_relative: true
#imu0_remove_gravitational_acceleration: true
pose0: /adc_car/amcl_pose
......
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