rep145

Author: kazu-321

cxd5602pwbimu_driver_bringup/launch/cxd5602pwbimu.launch.py

@@ -17,7 +17,7 @@ def generate_launch_description():
         executable='imu_filter_madgwick_node',
         name='imu_filter_madgwick_node',
         output='screen',
-        parameters=[{'use_mag': False, 'world_frame': 'ned'}]
+        parameters=[{'use_mag': False, 'remove_gravity_vector': True}]
     )
 
     rviz_node = Node(

cxd5602pwbimu_driver_node/src/cxd5602pwbimu_driver_node.cpp

@@ -105,9 +105,9 @@ void Cxd5602pwbimuDriverNode::processPacket(const uint8_t* data, size_t size)
   msg.header.stamp.sec = sec + time_offset_;
   msg.header.stamp.nanosec = msec * 1000000;
 
-  msg.linear_acceleration.x = linear_acc[0];
-  msg.linear_acceleration.y = linear_acc[1];
-  msg.linear_acceleration.z = -linear_acc[2];
+  msg.linear_acceleration.x = -linear_acc[0];
+  msg.linear_acceleration.y = -linear_acc[1];
+  msg.linear_acceleration.z = linear_acc[2];
 
   msg.angular_velocity.x = -angular_vel[0] * 0.5;
   msg.angular_velocity.y = -angular_vel[1] * 0.5;