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Try these, I just pulled this out of one of my config files

imu0: /imu
imu0_config: [
    false,  false,  false,  # x, y, z
    true,   true,   true,   # roll, pitch, yaw robot_localization recommends fusing orientation for IMU
    false,  false,  false,  # x vel, y vel, z vel
    false,  false,  false,  # roll vel, pitch vel, yaw vel
    false,  false,  false   # x accel, y accel, z accel (ideal want true true false)
]

odom0: /odom
odom0_config: [
    false,  false,  false,  # x, y, z
    false,  false,  false,  # roll, pitch, yaw
    true,   true,   true,   # x vel, y vel, z vel
    false,  false,  false,  # roll vel, pitch vel, yaw vel
    false,  false,  false   # x accel, y accel, z accel
]