added robot_pose_ekf
[ros_wild_thumper.git] / cfg / razor.yaml
1 ## USB port
2 port: /dev/ttyUSB0
3
4
5 ##### Calibration ####
6 ### accelerometer
7 accel_x_min: -275
8 accel_x_max: 290
9 accel_y_min: -295
10 accel_y_max: 275
11 accel_z_min: -295
12 accel_z_max: 215
13
14 ### magnetometer
15 # standard calibration
16 magn_x_min: -470
17 magn_x_max: 542
18 magn_y_min: -767
19 magn_y_max: 523
20 magn_z_min: -417
21 magn_z_max: 596
22
23
24 # extended calibration
25 calibration_magn_use_extended: true
26 magn_ellipsoid_center: [164.907, 212.010, 16.4033]
27 magn_ellipsoid_transform: [[0.977989, 0.00268088, 0.0115993], [0.00268088, 0.974660, 0.0151645], [0.0115993, 0.0151645, 0.982901]]
28
29 # AHRS to robot calibration
30 imu_yaw_calibration: 0.0
31
32 ### gyroscope
33 gyro_average_offset_x: -29.0
34 gyro_average_offset_y: -21.0
35 gyro_average_offset_z: 4.0