ellensohn/cps_rmp220_support
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Björn Ellensohn 2023-09-27 09:25:46 +02:00
parent 632b9289c7
commit 8fa32a94ad
1 changed files with 2 additions and 2 deletions
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4
config/ekf.yaml
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@ -42,7 +42,7 @@ ekf_filter_node:
false, false, true,
false, false, false]
odom0_differential: true
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.
@ -54,7 +54,7 @@ ekf_filter_node:
false, false, true,
true, false, true]
imu0_differential: false
imu0_relative: true
imu0_relative: false
# [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.