From 225cb99cadd011e8a7691770a443cc79344c8211 Mon Sep 17 00:00:00 2001 From: Idril Geer <igeer@iri.upc.edu> Date: Thu, 25 Feb 2021 14:51:34 +0100 Subject: [PATCH] changed launch and yaml --- launch/imu2d_demo.launch | 2 +- yaml/imu2d.yaml | 9 +++++---- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/launch/imu2d_demo.launch b/launch/imu2d_demo.launch index dde4a21..3f2da8e 100644 --- a/launch/imu2d_demo.launch +++ b/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" diff --git a/yaml/imu2d.yaml b/yaml/imu2d.yaml index 252043f..6704e15 100644 --- a/yaml/imu2d.yaml +++ b/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 -- GitLab