49 lines
2.7 KiB
YAML
Executable File
49 lines
2.7 KiB
YAML
Executable File
# Frequency of the main run loop
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frequency: 30
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# Delay time, in seconds, before we calculate the transform from the UTM frame to your world frame. This is especially
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# important if you have use_odometry_yaw set to true. Defaults to 0.
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delay: 3.0
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# PLEASE READ: Like all nodes in robot_localization, this node assumes that your IMU data is reported in the ENU frame.
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# Many IMUs report data in the NED frame, so you'll want to verify that your data is in the correct frame before using
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# it.
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# If your IMU does not account for magnetic declination, enter the value for your location here. If you don't know it,
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# see http://www.ngdc.noaa.gov/geomag-web/ (make sure to convert the value to radians). This parameter is mandatory.
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magnetic_declination_radians: 0
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# Your IMU's yaw, once the magentic_declination_radians value is added to it, should report 0 when facing east. If it
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# doesn't, enter the offset here. Defaults to 0.
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yaw_offset: 0.0
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# If this is true, the altitude is set to 0 in the output odometry message. Defaults to false.
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zero_altitude: false
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# If this is true, the transform world_frame->utm transform is broadcast for use by other nodes. Defaults to false.
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broadcast_utm_transform: false
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# If this is true, the utm->world_frame transform will be published instead of the world_frame->utm transform.
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# Note that broadcast_utm_transform still has to be enabled. Defaults to false.
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broadcast_utm_transform_as_parent_frame: false
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# If this is true, all received odometry data is converted back to a lat/lon and published as a NavSatFix message as
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# /gps/filtered. Defaults to false.
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publish_filtered_gps: false
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# If this is true, the node ignores the IMU data and gets its heading from the odometry source (typically the
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# /odometry/filtered topic coming from one of robot_localization's state estimation nodes). BE CAREFUL when using this!
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# The yaw value in your odometry source *must* be world-referenced, e.g., you cannot use your odometry source for yaw
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# if your yaw data is based purely on integrated velocities. Defaults to false.
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use_odometry_yaw: false
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# If true, will retrieve the datum from the 'datum' parameter below, if available. If no 'datum' parameter exists,
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# navsat_transform_node will wait until the user calls the 'datum' service with the SetDatum service message.
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wait_for_datum: false
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# Instead of using the first GPS location and IMU-based heading for the local-frame origin, users can specify the
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# origin (datum) using this parameter. The fields in the parameter represent latitude and longitude in decimal degrees,
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# and heading in radians. As navsat_transform_node assumes an ENU standard, a 0 heading corresponds to east.
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datum: [55.944904, -3.186693, 0.0]
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