From: Henrique Scharlau Coelho <henriquescharlaucoelho@gmail.com>
Date: Thu, 19 Oct 2023 02:48:35 +0000 (-0300)
Subject: changed imu topic namespace
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=43a094c0c78cc12102c2458cf977cbaee6d8bfce;p=twil.git

changed imu topic namespace
---

diff --git a/twil_2dnav/config/ekf.yaml b/twil_2dnav/config/ekf.yaml
index ed79a56..91d4bc6 100644
--- a/twil_2dnav/config/ekf.yaml
+++ b/twil_2dnav/config/ekf.yaml
@@ -39,7 +39,7 @@ ekf_filter_node:
                        false, false, true,
                        false, false, false]
 
-        imu0: demo/imu
+        imu0: sensor/imu
         imu0_config: [false, false, false,
                       false, false, true,
                       false, false, false,
diff --git a/twil_description/xacro/imu.urdf.xacro b/twil_description/xacro/imu.urdf.xacro
index a9fdd17..1297cbc 100644
--- a/twil_description/xacro/imu.urdf.xacro
+++ b/twil_description/xacro/imu.urdf.xacro
@@ -12,7 +12,7 @@
         <sensor name="imu_sensor" type="imu">
         <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
             <ros>
-            <namespace>/demo</namespace>
+            <namespace>/sensor</namespace>
             <remapping>~/out:=imu</remapping>
             </ros>
             <initial_orientation_as_reference>false</initial_orientation_as_reference>