20 lines
997 B
YAML
20 lines
997 B
YAML
%YAML:1.0 # need to specify the file type at the top!
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imu0:
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T_i_b:
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- [1.0, 0.0, 0.0, 0.0]
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- [0.0, 1.0, 0.0, 0.0]
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- [0.0, 0.0, 1.0, 0.0]
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- [0.0, 0.0, 0.0, 1.0]
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accelerometer_noise_density: 2.0000e-3 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" )
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accelerometer_random_walk: 3.0000e-3 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion )
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gyroscope_noise_density: 1.6968e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" )
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gyroscope_random_walk: 1.9393e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
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# accelerometer_noise_density: 0.1 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" )
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# accelerometer_random_walk: 0.002 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion )
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# gyroscope_noise_density: 0.05 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" )
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# gyroscope_random_walk: 4.0e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
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model: calibrated
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rostopic: /snappy_imu
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time_offset: 0.0
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update_rate: 200.0 |