um7.launch 1.25 KB
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<?xml version="1.0"?>
<launch>

  <node pkg="um7" type="um7_driver" name="um7_driver">
    <param name="port" type="string" value="$(optenv HUSKY_IMU_PORT /dev/clearpath/um7)"/>
    <param name="mag_updates" type="bool" value="false"/>
    <param name="frame_id" value="imu_link"/>
    <param name="tf_ned_to_enu" value="false"/>
    <remap from="imu" to="imu_um7"/>
  </node>

  <node pkg="nodelet" type="nodelet" name="imu_manager" args="manager"/>

  <!-- Transforms UM7 tilted data in imu_link frame to ENU data in base_link frame -->
  <node pkg="nodelet" type="nodelet" name="imu_data_transformer" args="load imu_transformer/imu_transformer_nodelet imu_manager">
    <remap from="imu_in" to="imu_um7"/>
    <remap from="imu_out/data" to="imu/data_raw"/>
    <remap from="imu_out/mag" to="imu/mag"/>
    <param name="target_frame" value="base_link"/>
  </node>

  <!-- Filter raw gyro, accel and mag data into a usable orientation -->
  <node pkg="nodelet" type="nodelet" name="imu_filter" args="load imu_filter_madgwick/ImuFilterNodelet imu_manager">
    <rosparam file="$(env HUSKY_MAG_CONFIG)" />
    <rosparam>
      orientation_stddev: 0.001
      gain: 0.01
      zeta: 0.001
      publish_tf: false
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      use_magnetic_field_msg: false
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    </rosparam>
  </node>

</launch>