From 87acb156492b0030bc0da0dcc928001e2ebb0279 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Thu, 28 Apr 2022 16:29:26 +0200
Subject: [PATCH] Remove IMU contents from VO demo file
---
yaml/demo_visual_odometry_euroc.yaml | 17 -----------------
1 file changed, 17 deletions(-)
diff --git a/yaml/demo_visual_odometry_euroc.yaml b/yaml/demo_visual_odometry_euroc.yaml
index 94eedcc..c711c25 100644
--- a/yaml/demo_visual_odometry_euroc.yaml
+++ b/yaml/demo_visual_odometry_euroc.yaml
@@ -41,13 +41,6 @@ config:
# pose: [-0.0216,-0.0647,0.0098, -0.0077072, 0.0104967, 0.7017528, 0.7123015] # according to mav0/cam0/sensor.yaml in dataset
using_raw: false
follow: "camera_euroc_mav0.yaml"
- -
- type: "SensorImu"
- name: "IMU"
- plugin: "imu"
- extrinsic:
- pose: [0,0,0, 0,0,0,1]
- follow: "vi_sensor_imu.yaml"
processors:
-
@@ -63,16 +56,6 @@ config:
type: "SubscriberCamera"
topic: "/cam0/image_rect"
sensor_name: "CAMERA"
- -
- package: "wolf_ros_imu"
- type: "SubscriberImu"
- topic: "/imu/imu_raw"
- sensor_name: "IMU"
- imu_x_axis: 3
- imu_y_axis: -2
- imu_z_axis: 1
- cov_source: "sensor"
- in_degrees: false
ROS publisher:
-
--
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