implement and use tinkerforge_imu2 node in cpp

[ros_wild_thumper.git] / launch / wild_thumper.launch

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index ec21d0b80b5ff615e116e5294f2851c7ee8ca1d2..c0f71b8117b1df668cac5c2e136782c6f8671720 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -27,7 +27,7 @@
                <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="$(arg use_imu)">
+       <node pkg="wild_thumper" type="imu_brick_v2" name="tinkerforge_imu_brick2" output="screen" respawn="true" if="$(arg use_imu)">
                <param name="uid" value="6DdNSn"/>
        </node>
 
@@ -51,6 +51,7 @@
                <param name="yaw_offset" value="0.0"/>
                <param name="zero_altitude" value="true"/>
                <param name="broadcast_utm_transform" value="true"/>
+               <param name="transform_timeout" value="0.2"/>
 
                <remap from="/imu/data" to="imu"/>
                <remap from="/gps/fix" to="fix" />