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Commit df379a49 authored by Luca Marchionni's avatar Luca Marchionni
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Fix imu tf and frame

parent 63804063
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talos_bringup/config/talos_full_hardware.yaml
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View file @ df379a49
...@@ -52,7 +52,7 @@ force_torque: ...@@ -52,7 +52,7 @@ force_torque:
imu: imu:
base_imu: base_imu:
frame: base_link frame: imu_link
raw_data: raw_data:
orientation_port: orientation_base orientation_port: orientation_base
linear_acceleration_port: linear_acceleration_base linear_acceleration_port: linear_acceleration_base
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talos_description/urdf/torso/torso.urdf.xacro
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View file @ df379a49
...@@ -138,7 +138,7 @@ ...@@ -138,7 +138,7 @@
</joint> </joint>
<xacro:talos_imu name="imu" parent="${name}_2_link" update_rate="100.0"> <xacro:talos_imu name="imu" parent="${name}_2_link" update_rate="100.0">
<origin xyz="0.04925 0 0.078" rpy="${180.0*deg_to_rad} 0 ${-90.0*deg_to_rad}"/> <origin xyz="0.04925 0 0.078" rpy="${180.0*deg_to_rad} 0 ${90.0*deg_to_rad}"/>
</xacro:talos_imu> </xacro:talos_imu>
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