<param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
</node>
- <node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen" respawn="true" if="$(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">