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<launch>
<!-- parameters -->
<arg name="device" default="auto" doc="device file of the IMU"/>
<arg name="baudrate" default="0" doc="baudrate of the IMU"/>
<arg name="timeout" default="0.002" doc="timeout for the IMU communication"/>
<arg name="initial_wait" default="0.1" doc="initial wait to allow device to come up"/>
<arg name="frame_id" default="/imu" doc="frame id of the IMU"/>
<arg name="frame_local" default="ENU" doc="desired frame orientation (ENU, NED or NWU)"/>
<arg name="no_rotation_duration" default="0" doc="duration (int in seconds) of the no-rotation calibration procedure"/>
<arg name="angular_velocity_covariance_diagonal" default="[0.0004, 0.0004, 0.0004]" doc="Diagonal elements of angular velocity covariance matrix"/>
<arg name="linear_acceleration_covariance_diagonal" default="[0.0004, 0.0004, 0.0004]" doc="Diagonal elements of linear acceleration covariance matrix"/>
<arg name="orientation_covariance_diagonal" default="[0.01745, 0.01745, 0.15708]" doc="Diagonal elements of the orientation covariance matrix"/>
<!-- node -->
<node pkg="xsens_driver" type="mtnode.py" name="xsens_driver" output="screen" >
<param name="device" value="$(arg device)"/>
<param name="baudrate" value="$(arg baudrate)"/>
<param name="timeout" value="$(arg timeout)"/>
<param name="initial_wait" value="$(arg initial_wait)"/>
<param name="frame_id" value="$(arg frame_id)"/>
<param name="frame_local" value="$(arg frame_local)"/>
<param name="no_rotation_duration" value="$(arg no_rotation_duration)"/>
<rosparam param="angular_velocity_covariance_diagonal" subst_value="True">$(arg angular_velocity_covariance_diagonal)</rosparam>
<rosparam param="linear_acceleration_covariance_diagonal" subst_value="True">$(arg linear_acceleration_covariance_diagonal)</rosparam>
<rosparam param="orientation_covariance_diagonal" subst_value="True">$(arg orientation_covariance_diagonal)</rosparam>
</node>
</launch>
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