X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=1e1bf66e2f9bd046783695201f89c87eda7c61b8;hp=ec21d0b80b5ff615e116e5294f2851c7ee8ca1d2;hb=15e32d80e6d095cc1d5550dc340be241cf6badcc;hpb=fd6ae55188019c3e21cc9341b34aea471038494d

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index ec21d0b..1e1bf66 100644
--- 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="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">
@@ -51,6 +58,7 @@
 		<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" />