tinkerforge imu: switch node to tinkerforge_imu_ros

[ros_wild_thumper.git] / launch / wild_thumper.launch

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index c0f71b8117b1df668cac5c2e136782c6f8671720..1e1bf66e2f9bd046783695201f89c87eda7c61b8 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -27,8 +27,15 @@
                <param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
        </node>
 
-       <node pkg="wild_thumper" type="imu_brick_v2" name="tinkerforge_imu_brick2" output="screen" respawn="true" if="$(arg use_imu)">
+       <node pkg="tinkerforge_imu_ros" type="tinkerforge_imu_ros" name="tinkerforge_imu_brick2" output="screen" respawn="true" if="$(arg use_imu)">
                <param name="uid" value="6DdNSn"/>
+               <param name="frame_id" value="base_imu_link"/>
+               <param name="period_ms" value="20"/>
+               <!-- Observed orientation variance: 0.0 (10k samples)
+                    Magnometer heading accuracy is +-2.5 deg => 0.088 rad
+                    With heading accuracy as std dev, variance = 0.088^2 = 0.008 -->
+               <param name="variance_orientation" value="0.008"/>
+               <remap from="/tinkerforge_imu_brick2/imu" to="imu"/>
        </node>
 
        <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">