Publishing gravity in acceleration fields of "normal" topic#78
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flabrosse wants to merge 2 commits into
Open
Publishing gravity in acceleration fields of "normal" topic#78flabrosse wants to merge 2 commits into
flabrosse wants to merge 2 commits into
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According to https://docs.ros.org/en/jade/api/robot_localization/html/preparing_sensor_data.html, gravity needs to be present in the acceleration fields. This is only true in the data published on the
imu_rawtopic, which does not contain the calculated orientation.The PR ads an option to use or not (default) the raw acceleration in the acceleration field of the
imutopic.