From 22d9f70ead4ba657305d3c8febb64c103f9aaf2a Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 16 Sep 2021 09:27:40 +0200
Subject: [PATCH] yaml changes
---
yaml/M600b/params.yaml | 40 +++++++++++++++++++++++-----------------
yaml/scrab/params.yaml | 2 +-
2 files changed, 24 insertions(+), 18 deletions(-)
diff --git a/yaml/M600b/params.yaml b/yaml/M600b/params.yaml
index 6afa243..0884e48 100644
--- a/yaml/M600b/params.yaml
+++ b/yaml/M600b/params.yaml
@@ -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"
diff --git a/yaml/scrab/params.yaml b/yaml/scrab/params.yaml
index d424935..11d7ec6 100644
--- a/yaml/scrab/params.yaml
+++ b/yaml/scrab/params.yaml
@@ -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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