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Viewing changes to csiro_asl_drivers/novatelINS/launch/novatelINS_bobcat.launch

  • Committer: Nick Hillier
  • Date: 2011-08-03 03:16:26 UTC
  • Revision ID: nick.hillier@csiro.au-20110803031626-3ekp14jxlbda9bzf
Initial add of ROS wrappers for novatel INS around the Orca driver.

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<!-- -*- mode: XML -*- -->
 
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<!-- launch file to debug the novatelINS ROS driver -->
 
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<launch>
 
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  <node pkg="novatelINS" type="novatelINSdriver" name="novatel"/>
 
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  <param name="novatel/config/imuOffsetX" value="-1.61"/>
 
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  <param name="novatel/config/imuOffsetY" value="-0.122"/>
 
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  <param name="novatel/config/imuOffsetZ" value="-0.74"/>
 
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  <param name="novatel/config/gpsOffsetX" value="0.12"/>
 
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  <param name="novatel/config/gpsOffsetY" value="0.0"/>
 
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  <param name="novatel/config/gpsOffsetZ" value="-2.13"/>
 
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  <param name="novatel/config/port" value="/dev/ttyUSB0"/>
 
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  <param name="novatel/config/baud" value="115200"/>
 
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  <param name="novatel/config/alignType" value="static"/>
 
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  <!--<param name="novatelINS/config/alignType" value="kinematic"/>-->
 
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  <param name="novatel/config/magbiasX" value="-0.3363"/>
 
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  <param name="novatel/config/magbiasY" value="-0.8208"/>
 
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  <param name="novatel/config/magazstd" value="5.0"/>
 
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  <param name="novatel/config/tfOffsetX" value="6.955255e+06"/>
 
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  <param name="novatel/config/tfOffsetY" value="4.911550e+05"/>
 
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  <param name="novatel/config/tfOffsetZ" value="-4.436160e+01"/>
 
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</launch>