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
-- 
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