From e8f12234b856de26b44e0e94dd03d56f0e2a63e2 Mon Sep 17 00:00:00 2001 From: Alopez <alopez@iri.upc.edu> Date: Fri, 14 May 2021 14:54:13 +0200 Subject: [PATCH] Removed imu from global ekf --- .../adc_global_ekf_odom_imu_amcl.yaml | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml b/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml index 5a0b325..1a9f450 100644 --- a/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml +++ b/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml @@ -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 -- GitLab