Commit ada2da43 authored by Tony Baltovski's avatar Tony Baltovski
Browse files

[husky_bringup] Enabled using MagnenticField message for UM6 and UM7 since...

[husky_bringup] Enabled using MagnenticField message for UM6 and UM7 since imu_filter_madgwick now uses it by default.
parent 625dd94e
...@@ -4,6 +4,7 @@ ...@@ -4,6 +4,7 @@
<node pkg="um6" type="um6_driver" name="um6_driver"> <node pkg="um6" type="um6_driver" name="um6_driver">
<param name="port" type="string" value="$(optenv HUSKY_IMU_PORT /dev/clearpath/imu)"/> <param name="port" type="string" value="$(optenv HUSKY_IMU_PORT /dev/clearpath/imu)"/>
<param name="mag_updates" type="bool" value="false"/> <param name="mag_updates" type="bool" value="false"/>
<param name="use_magnetic_field_msg" type="bool" value="true"/>
<param name="frame_id" value="imu_link"/> <param name="frame_id" value="imu_link"/>
<param name="tf_ned_to_enu" value="false"/> <param name="tf_ned_to_enu" value="false"/>
<remap from="imu" to="imu_um6"/> <remap from="imu" to="imu_um6"/>
......
...@@ -4,6 +4,7 @@ ...@@ -4,6 +4,7 @@
<node pkg="um7" type="um7_driver" name="um7_driver"> <node pkg="um7" type="um7_driver" name="um7_driver">
<param name="port" type="string" value="$(optenv HUSKY_IMU_PORT /dev/clearpath/um7)"/> <param name="port" type="string" value="$(optenv HUSKY_IMU_PORT /dev/clearpath/um7)"/>
<param name="mag_updates" type="bool" value="false"/> <param name="mag_updates" type="bool" value="false"/>
<param name="use_magnetic_field_msg" type="bool" value="true"/>
<param name="frame_id" value="imu_link"/> <param name="frame_id" value="imu_link"/>
<param name="tf_ned_to_enu" value="false"/> <param name="tf_ned_to_enu" value="false"/>
<remap from="imu" to="imu_um7"/> <remap from="imu" to="imu_um7"/>
......
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