Commit 22d9f70e authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
Browse files

yaml changes

parent f04956bf
......@@ -38,11 +38,11 @@ config:
name: "IMU_odometer"
plugin: "imu"
follow: "../sensor_bno.yaml"
-
type: "SensorCompass"
name: "compass"
plugin: "imu"
follow: "sensor_bno_compass.yaml"
#-
# type: "SensorCompass"
# name: "compass"
# plugin: "imu"
# follow: "sensor_bno_compass.yaml"
-
type: "SensorGnss"
name: "gnss"
......@@ -58,18 +58,24 @@ config:
sensor_name: "IMU_odometer"
plugin: "imu"
follow: "../processor_imu.yaml"
-
type: "ProcessorCompass"
name: "processor compass"
sensor_name: "compass"
plugin: "imu"
follow: "../processor_compass.yaml"
#-
# type: "ProcessorCompass"
# name: "processor compass"
# sensor_name: "compass"
# plugin: "imu"
# follow: "../processor_compass.yaml"
-
type: "ProcessorTrackerGnss"
name: "processor gnss"
sensor_name: "gnss"
plugin: "gnss"
follow: "processor_gnss.yaml"
-
type: "ProcessorFixWingModel"
name: "processor fix wing"
sensor_name: "IMU_odometer"
plugin: "core"
follow: "processor_fix_wing.yaml"
ROS subscriber:
-
......@@ -84,12 +90,12 @@ config:
sensor_name: "IMU_odometer"
package: "wolf_ros_imu"
follow: "subscriber_imu.yaml"
-
type: "SubscriberCompass"
topic: "/bno055_imu/magnetometer"
sensor_name: "compass"
package: "wolf_ros_imu"
follow: "subscriber_imu.yaml"
#-
# type: "SubscriberCompass"
# topic: "/bno055_imu/magnetometer"
# sensor_name: "compass"
# package: "wolf_ros_imu"
# follow: "subscriber_imu.yaml"
-
type: "SubscriberGnssFixPublisherEcef"
topic: "/ublox_gps/fix"
......
......@@ -48,7 +48,7 @@ config:
name: "gnss"
plugin: "gnss"
extrinsic:
pose: [1.36, -0.04, 0.280] # BNO055 in rosbag
pose: [0,0,0]#[1.36, -0.04, 0.280] # BNO055 in rosbag
follow: "../sensor_f9t.yaml"
processors:
......
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