From df379a49a18a830795db9d3d374a68559eb2aef9 Mon Sep 17 00:00:00 2001
From: Luca <luca.marchionni@pal-robotics.com>
Date: Sat, 12 Nov 2016 14:05:15 +0100
Subject: [PATCH] Fix imu tf and frame
---
talos_bringup/config/talos_full_hardware.yaml | 2 +-
talos_description/urdf/torso/torso.urdf.xacro | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/talos_bringup/config/talos_full_hardware.yaml b/talos_bringup/config/talos_full_hardware.yaml
index ea93025..4e65050 100644
--- a/talos_bringup/config/talos_full_hardware.yaml
+++ b/talos_bringup/config/talos_full_hardware.yaml
@@ -52,7 +52,7 @@ force_torque:
imu:
base_imu:
- frame: base_link
+ frame: imu_link
raw_data:
orientation_port: orientation_base
linear_acceleration_port: linear_acceleration_base
diff --git a/talos_description/urdf/torso/torso.urdf.xacro b/talos_description/urdf/torso/torso.urdf.xacro
index 5ceb621..966902a 100644
--- a/talos_description/urdf/torso/torso.urdf.xacro
+++ b/talos_description/urdf/torso/torso.urdf.xacro
@@ -138,7 +138,7 @@
</joint>
<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>
--
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