From 74d831b58dc28ff908f70a2c232f4b7c15c39227 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Wed, 23 Feb 2022 15:57:39 +0100
Subject: [PATCH] recording slope
---
launch/imu2d_analysys.launch | 3 ++-
yaml/trajectory_analysys/T.yaml | 2 +-
2 files changed, 3 insertions(+), 2 deletions(-)
diff --git a/launch/imu2d_analysys.launch b/launch/imu2d_analysys.launch
index 0317c59..e8c7d7a 100644
--- a/launch/imu2d_analysys.launch
+++ b/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 -->
diff --git a/yaml/trajectory_analysys/T.yaml b/yaml/trajectory_analysys/T.yaml
index 169a947..acaa4c9 100644
--- a/yaml/trajectory_analysys/T.yaml
+++ b/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
--
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