changed launch and yaml

launch/imu2d_demo.launch

@@ -28,7 +28,7 @@
     <node pkg="rosbag"
     	  type="play"
     	  name="player"
-    	  args="-s $(arg sec) -r $(arg speed) -k --clock $(find wolf_demo_imu2d)/bag/test2_no_map.bag"/>
+    	  args="-s $(arg sec) -r $(arg speed) -k --clock $(find wolf_demo_imu2d)/bag/test3_filtered2_nomap.bag"/>
 
     <node type="rviz"
           name="rviz"

yaml/imu2d.yaml

@@ -47,10 +47,10 @@ config:
       LaserScanParams:
         angle_min: -3.14159274101
         angle_max:  3.14159274101
-        angle_step: 0.00700000021607
+        angle_step: 0.007 #0.00700000021607
         scan_time:  0.0
         range_min:  0.0
-        range_max:  100
+        range_max:  200
         range_std_dev: 0.2
         angle_std_dev: 0.01
     -
@@ -134,17 +134,18 @@ config:
     -
       package: "wolf_ros_node"
       type: "SubscriberOdom2d"
-      topic: "/ana/odom_mal"
+      topic: "/ana/odom"
       sensor_name: "odom2d"
     -
       package: "wolf_ros_laser"
       type: "SubscriberLaser2d"
       topic: "/ana/sensors/scan"
       sensor_name: "scanner_front_left"
+      load_params_from_msg: false
     -
       package: "wolf_ros_imu"
       type: "SubscriberImu"
-      topic: "/ana/sensors/bno055_imu/imu"
+      topic: "/ana/sensors/bno055_imu/imu_mal"
       sensor_name: "sensorimu2d"
       imu_x_axis: 3
       imu_y_axis: 2