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It's part of the Husky robot from Clearpath. The environmental variable is used in line 26.

environment variable is a variable that you set in your terminal/bashrc. However, I checked where the variable came from. In the Husky repo it's used here to set the path of your config file as an environment variable OR use find('husky_bringup')+'/config/mag_config_default.yaml') as default. Checking that path gives us this config.

I think you should get the same result if you go back to that first link I send and change

<rosparam file="$(env HUSKY_MAG_CONFIG)" />
<rosparam>
  orientation_stddev: 0.001
  gain: 0.01
  zeta: 0.001
  publish_tf: false
</rosparam>

to

<rosparam>
  use_mag: false
  mag_bias_x: 0
  mag_bias_y: 0
  mag_bias_z: 0
  orientation_stddev: 0.001
  gain: 0.01
  zeta: 0.001
  publish_tf: false
</rosparam>

Basically just adding the parameters from that default config files to the list instead of using the config file.

The second option would be to install the Husky packages and add HUSKY_MAG_CONFIG as an environment variable in your bashrc