Skip to content

Parametrise frames and topics

Marcus M. Scheunemann requested to merge parametrise_frames_and_topics into humble

This MR adds/parametrises the following:

  • parametrise the topic to publish to: pub_topic
  • parametrise the topic to subscribe to: sub_topic
  • add the frame_id to add to the message to indicate the IMU position in the robot description

It also adds some very small, but sensible values to the covariance.

Merge request reports