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cv7.yml
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cv7.yml
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# You should change this section of config to match your setup
port : '/dev/microstrain_main'
baudrate : 115200
# This will cause the node to convert any NED measurements to ENU
# This will also cause the node to convert any vehicle frame measurements to the ROS definition of a vehicle frame
use_enu_frame : True
# Configure some frame IDs
frame_id : 'cv7_link' # Frame ID of all of the filter messages. Represents the location of the CV7-INS in the tf tree
# Disable the transform from the mount to frame id transform as it will be handled in the launch file
publish_mount_to_frame_id_transform : False
# This will set the initial heading alignment to use the magnetometer
filter_auto_heading_alignment_selector : 4
# During operation, we will assume that we are in a wheeled vehicle for more accurate heading
# If using a drone, disable this option, and enable "filter_enable_magnetometer_aiding"
filter_enable_wheeled_vehicle_constraint : True
# Disable some heading options that do not work for this device
filter_enable_gnss_pos_vel_aiding : False
filter_enable_gnss_heading_aiding : False
# This example shows a very basic setup with no PPS sync, so this will disable PPS on the device.
# Note that if you have any way to provide PPS, you should setup PPS
filter_pps_source : 0
# Disable the filter declination source. This is required to get the node to start, and isn't doing anything special
filter_declination_source : 1