From 2fa12e4c1e20c530f143c05c55dedf71a28c0a0f Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 20 Feb 2016 16:53:32 +0100
Subject: [PATCH] moved cfg-files to config

---
 CMakeLists.txt                            | 2 +-
 {cfg => config}/analyzers.yaml            | 0
 {cfg => config}/cmd_vel_mux.yaml          | 0
 {cfg => config}/path_following.cfg        | 0
 {cfg => config}/razor.yaml                | 5 ++---
 {cfg => config}/transformation_matrix.yml | 0
 launch/wild_thumper.launch                | 6 +++---
 src/path_following.cpp                    | 2 +-
 8 files changed, 7 insertions(+), 8 deletions(-)
 rename {cfg => config}/analyzers.yaml (100%)
 rename {cfg => config}/cmd_vel_mux.yaml (100%)
 rename {cfg => config}/path_following.cfg (100%)
 rename {cfg => config}/razor.yaml (74%)
 rename {cfg => config}/transformation_matrix.yml (100%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2e21cc7..fe6d50a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -67,7 +67,7 @@ generate_messages(
 )
 
 generate_dynamic_reconfigure_options(
-  cfg/path_following.cfg
+  config/path_following.cfg
 )
 
 ###################################
diff --git a/cfg/analyzers.yaml b/config/analyzers.yaml
similarity index 100%
rename from cfg/analyzers.yaml
rename to config/analyzers.yaml
diff --git a/cfg/cmd_vel_mux.yaml b/config/cmd_vel_mux.yaml
similarity index 100%
rename from cfg/cmd_vel_mux.yaml
rename to config/cmd_vel_mux.yaml
diff --git a/cfg/path_following.cfg b/config/path_following.cfg
similarity index 100%
rename from cfg/path_following.cfg
rename to config/path_following.cfg
diff --git a/cfg/razor.yaml b/config/razor.yaml
similarity index 74%
rename from cfg/razor.yaml
rename to config/razor.yaml
index 228ff74..5b48693 100644
--- a/cfg/razor.yaml
+++ b/config/razor.yaml
@@ -23,9 +23,8 @@ magn_z_max: 596
 
 # extended calibration
 calibration_magn_use_extended: true
-magn_ellipsoid_center: [293.553, 46.4419, -692.900]
-magn_ellipsoid_transform: [[0.939516, 0.0193393, 0.0340815], [0.0193393, 0.957723, 0.0120572], [0.0340815, 0.0120572, 0.966198]]
-
+magn_ellipsoid_center: [250.567, 49.8387, -698.641]
+magn_ellipsoid_transform: [[0.940458, 0.0129812, 0.0164252], [0.0129812, 0.947417, 0.0255152], [0.0164252, 0.0255152, 0.978453]]
 
 # AHRS to robot calibration
 imu_yaw_calibration: 0.0
diff --git a/cfg/transformation_matrix.yml b/config/transformation_matrix.yml
similarity index 100%
rename from cfg/transformation_matrix.yml
rename to config/transformation_matrix.yml
diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 13b8f13..61d2511 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -12,7 +12,7 @@
 	<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen"/>
 
 	<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
-		<rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml"/>
+		<rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
 	</node>
 
 	<node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="true">
@@ -21,7 +21,7 @@
 	</node>
 
 	<node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen" if="$(arg use_imu)">
-		<rosparam file="$(find wild_thumper)/cfg/razor.yaml" command="load"/>
+		<rosparam file="$(find wild_thumper)/config/razor.yaml" command="load"/>
 	</node>
 
 	<node pkg="gpsd_client" type="gpsd_client"  name="gpsd_client" output="screen">
@@ -46,7 +46,7 @@
 	</node>
 
 	<include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
-		<arg name="config_file" value="$(find wild_thumper)/cfg/cmd_vel_mux.yaml" />
+		<arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
 		<arg name="nodelet_manager_name" value="nodelet_manager" />
 	</include>
 </launch>
diff --git a/src/path_following.cpp b/src/path_following.cpp
index 7bbd7ef..a183484 100644
--- a/src/path_following.cpp
+++ b/src/path_following.cpp
@@ -43,7 +43,7 @@ class PathFollower
 	PathFollower() : it(nh)
 	{
 		ros::NodeHandle pnh("~");
-		FileStorage fs(ros::package::getPath("wild_thumper") + "/cfg/transformation_matrix.yml", FileStorage::READ);
+		FileStorage fs(ros::package::getPath("wild_thumper") + "/config/transformation_matrix.yml", FileStorage::READ);
 		dynamic_reconfigure::Server<wild_thumper::PathFollowingConfig>::CallbackType f;
 
 		fs["transformation_matrix"] >> transformation_matrix;
-- 
2.39.2