%YAML:1.0 # need to specify the file type at the top!

imu0:
  T_i_b:
    - [1.0, 0.0, 0.0, 0.0]
    - [0.0, 1.0, 0.0, 0.0]
    - [0.0, 0.0, 1.0, 0.0]
    - [0.0, 0.0, 0.0, 1.0]
  accelerometer_noise_density: 2.0000e-3  # [ m / s^2 / sqrt(Hz) ]   ( accel "white noise" )
  accelerometer_random_walk: 3.0000e-3    # [ m / s^3 / sqrt(Hz) ].  ( accel bias diffusion )
  gyroscope_noise_density: 1.6968e-04     # [ rad / s / sqrt(Hz) ]   ( gyro "white noise" )
  gyroscope_random_walk: 1.9393e-05       # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
  #  accelerometer_noise_density: 0.1   # [ m / s^2 / sqrt(Hz) ]   ( accel "white noise" )
  #  accelerometer_random_walk: 0.002   # [ m / s^3 / sqrt(Hz) ].  ( accel bias diffusion )
  #  gyroscope_noise_density: 0.05      # [ rad / s / sqrt(Hz) ]   ( gyro "white noise" )
  #  gyroscope_random_walk: 4.0e-05     # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
  model: calibrated
  rostopic: /snappy_imu
  time_offset: 0.0
  update_rate: 200.0