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[iCubGenova11] Publish Euler angles from IMU on rfe #609

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merged 2 commits into from
Jan 15, 2024
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[iCubGenova11] Publish Euler angles from IMU on rfe #609

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2c171cd
Enable orientation reading from iCubGenova11 rfe
martinaxgloria Jan 12, 2024
1edf1a8
Fix typo
martinaxgloria Jan 12, 2024
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14 changes: 6 additions & 8 deletions iCubGenova11/hardware/inertials/head-inertial.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -30,26 +30,24 @@
</group>

<group name="SENSORS">
<param name="id"> rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status
<param name="id"> rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status
</param>
<param name="sensorName"> head_imu_0 head_imu_0 head_imu_0 head_imu_0 </param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_status
<param name="sensorName"> head_imu_0 head_imu_0 head_imu_0 head_imu_0 head_imu_0</param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_eul eoas_imu_status
</param>
<param name="boardType"> rfe rfe rfe rfe
<param name="boardType"> rfe rfe rfe rfe rfe
</param>
<param name="location"> CAN1:1 CAN1:1 CAN1:1 CAN1:1
<param name="location"> CAN1:1 CAN1:1 CAN1:1 CAN1:1 CAN1:1
</param>
</group>

</group>

<group name="SETTINGS">
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status </param>
<param name="enabledSensors"> rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status </param>
</group>

</group>

</device>