ellensohn/cps_rmp220_support
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This commit is contained in:
Björn Ellensohn 2023-09-27 11:28:57 +02:00
parent 4b4d8c3102
commit 5974d6db3a
1 changed files with 3 additions and 3 deletions
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6
config/ekf.yaml
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@ -42,7 +42,7 @@ ekf_filter_node:
false, false, true,
false, false, false]
odom0_differential: false
#odom0_relative: true
odom0_relative: true
imu0: /imu
# The order of the values of this parameter is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az.
@ -53,8 +53,8 @@ ekf_filter_node:
false, false, false,
false, false, true,
true, false, true]
imu0_differential: true
imu0_relative: false
imu0_differential: false
imu0_relative: true
# [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set
# this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame.