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odom_frame: odom
base_link_frame: base_link
map_frame: map
world_frame: odom
two_d_mode: true
frequency: 50
print_diagnostics: false
# Laser Scan Matching Pose Estimate
pose0: /pose_with_covariance_stamped
pose0_config: [true, true, true,
false, false, false,
false, false, false,
false, false, false,
false, false, false]
pose0_differential: false
pose0_queue_size: 10
# IMU Complementary Filter output
imu0: /imu/data
# Orientation, angular veloctiy, linear acceleration
imu0_config: [false, false, false,
true, true, true,
false, false, false,
true, true, true,
true, true, false]
imu0_differential: false
imu0_queue_size: 10
# only works if IMU provides orientation
imu0_remove_gravitational_acceleration: true
# Ouster IMU
#imu0: /os1_cloud_node/imu
#imu0_config: [false, false, false,
# false, false, false,
# false, false, false,
# false, false, true,
# true, true, false]
#imu0_differential: false
#imu0_queue_size: 10
# only works if IMU provides orientation
imu0_remove_gravitational_acceleration: true
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