From 48097813c1fd392f09bde979b56dc9d5a33af1fc Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Fri, 14 Aug 2015 01:14:05 +0000
Subject: [PATCH] added razor imu

---
 cfg/razor.yaml      | 35 +++++++++++++++++++++++++++++++++++
 wild_thumper.launch |  4 ++++
 2 files changed, 39 insertions(+)
 create mode 100644 cfg/razor.yaml

diff --git a/cfg/razor.yaml b/cfg/razor.yaml
new file mode 100644
index 0000000..9bcfeed
--- /dev/null
+++ b/cfg/razor.yaml
@@ -0,0 +1,35 @@
+## USB port
+port: /dev/ttyUSB0
+
+
+##### Calibration ####
+### accelerometer
+accel_x_min: -275
+accel_x_max: 290
+accel_y_min: -295
+accel_y_max: 275
+accel_z_min: -295
+accel_z_max: 215
+
+### magnetometer
+# standard calibration
+magn_x_min: -470
+magn_x_max: 542
+magn_y_min: -767
+magn_y_max: 523
+magn_z_min: -417
+magn_z_max: 596
+
+
+# extended calibration
+calibration_magn_use_extended: true
+magn_ellipsoid_center: [45.6927, 172.209, 376.478]
+magn_ellipsoid_transform: [[0.994730, 0.00431208, -0.0112894], [0.00431208, 0.981610, 0.00532676], [-0.0112894, 0.00532676, 0.974786]]
+
+# AHRS to robot calibration
+imu_yaw_calibration: 0.0
+
+### gyroscope
+gyro_average_offset_x: -29.0
+gyro_average_offset_y: -21.0
+gyro_average_offset_z: 4.0
diff --git a/wild_thumper.launch b/wild_thumper.launch
index 8d7c713..af52d92 100644
--- a/wild_thumper.launch
+++ b/wild_thumper.launch
@@ -7,4 +7,8 @@
 	<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >
 		<rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml" />
 	</node>
+
+	<node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen">
+		<rosparam file="$(find wild_thumper)/cfg/razor.yaml" command="load"/>
+	</node>
 </launch>
-- 
2.39.2