recording slope

launch/imu2d_analysys.launch

@@ -27,7 +27,8 @@
                   "/wolf_ros_node/odom_icp"
                   "/imu_micro_bias_accel"
                   "/imu_micro_bias_gyro"
-                  "/imu_micro_pose_from_origin"'/>
+                  "/imu_micro_pose_from_origin"
+                  "/imu_micro_slope_and_orientation"'/>
     </group>
 
     <!-- TF -->

yaml/trajectory_analysys/T.yaml

@@ -21,7 +21,7 @@ config:
         V: [0,0,0]
       $sigma:
         P: [0.01, 0.01, 0.01]
-        O: [1, 1, 1]
+        O: [1, 1, 0.01]
         V: [0.01, 0.01, 0.01]
       time_tolerance: 0.1
     node_rate: 100