Commit e01162e0 authored by Paul Rouanet's avatar Paul Rouanet
Browse files

Changes about IMU definition

parent 81d46b06
......@@ -18,7 +18,7 @@
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware}">
<plugin>ros2_hardware_interface_bolt/SystemBoltMultiInterfaceHardware</plugin>
<plugin>ros2_control_bolt/SystemBoltHardware</plugin>
<param name="example_param_hw_start_duration_sec">2.0</param>
<param name="example_param_hw_stop_duration_sec">3.0</param>
<param name="example_param_hw_slowdown">${slowdown}</param>
......@@ -248,11 +248,22 @@
</joint>
<sensor name="IMU">
<state_interface name="gyroscope"/>
<state_interface name="accelerometer"/>
<state_interface name="linear_acceleration"/>
<state_interface name="attitude_euler"/>
<state_interface name="attitude_quaternion"/>
<state_interface name="gyroscope_x"/>
<state_interface name="gyroscope_y"/>
<state_interface name="gyroscope_z"/>
<state_interface name="accelerometer_x"/>
<state_interface name="accelerometer_y"/>
<state_interface name="accelerometer_z"/>
<state_interface name="linear_acceleration_x"/>
<state_interface name="linear_acceleration_y"/>
<state_interface name="linear_acceleration_z"/>
<state_interface name="attitude_euler_x"/>
<state_interface name="attitude_euler_y"/>
<state_interface name="attitude_euler_z"/>
<state_interface name="attitude_quaternion_x"/>
<state_interface name="attitude_quaternion_y"/>
<state_interface name="attitude_quaternion_z"/>
<state_interface name="attitude_quaternion_w"/>
<param name="rotate_vector">"1 2 3"</param>
<param name="orientation_vector">"1 2 3 4"</param>
</sensor>
......
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