Add the IMU to the sample

clearpathrobotics · Nov 29, 2024 · 0e2a8e9 · 0e2a8e9
1 parent 8a8b047
commit 0e2a8e9
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/clearpath_config/sample/a200/a200_observer.yaml b/clearpath_config/sample/a200/a200_observer.yaml
@@ -134,3 +134,13 @@ sensors:
           ip_address: 192.168.131.32
           ip_port: 55555
           imu_frame_id: gps_1_link
+  imu:
+    - model: microstrain_imu
+      urdf_enabled: true
+      launch_enabled: true
+      parent: backpack_imu_mount
+      ros_parameters:
+        microstrain_inertial_driver:
+          imu_frame_id: imu_0_link
+          port: /dev/microstrain_main
+          use_enu_frame: true