Editing gyro_measurement_range in CREATE Turtlebot?
After several problems with the CREATE base gyro, I decided to use a SpartonCompassIMU (AHRS-8) for gmapping and pose estimation. I am using a ROS driver available from github. The driver is perfectly fine, and publishes data to /imu/data. I remapped the topics in the minimal, gmapping and calibration launch files and using rosgraph and rosnode/rostopic info, I can conclude that robot_pose_ekf is using the imu/data from SpartonCompassIMU. However, the mapping is still off and the rotational motions are still inaccurate.
I have tried changing the mapping parameters as well, done the laser scan checks in RViz. Not much there. I realized later that for calibration, the gyro_measurement_range is still set to 250 (from the old inactive gyro). I have tried changing that in the config files, but it doesn't seem to be helping much. From the pdf manuals, SpartonCompassIMU, the gyro_measurement_range seems to be 480deg/s.
What am I missing? Where should I be changing the parameter?
Also, using rosparam set doesn't change the value, since it isn't dynamically reconfiguring the bot.