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Add imu range set in ros launch

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This commit is contained in:
kalman 2018-11-20 15:33:16 +08:00
parent ee19a8c857
commit 0fc1196b52
2 changed files with 12 additions and 0 deletions
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10
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
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@ -86,6 +86,14 @@
<arg name="hdr_mode" default="-1" />
<!-- <arg name="hdr_mode" default="0" /> -->
<!-- accel_range range: {4,8,16,32} -->
<arg name="accel_range" default="-1" />
<!-- <arg name="accel_range" default="8" /> -->
<!-- gyro_range range: {500,1000,2000,4000} -->
<arg name="gyro_range" default="-1" />
<!-- <arg name="gyro_range" default="1000" /> -->
<!-- Push down all topics/nodelets into "mynteye" namespace -->
<group ns="$(arg mynteye)">
@ -143,6 +151,8 @@
<param name="desired_brightness" value="$(arg desired_brightness)" />
<param name="ir_control" value="$(arg ir_control)" />
<param name="hdr_mode" value="$(arg hdr_mode)" />
<param name="accel_range" value="$(arg accel_range)" />
<param name="gyro_range" value="$(arg gyro_range)" />
</node>

2
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
View File

@ -160,6 +160,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
{Option::DESIRED_BRIGHTNESS, "desired_brightness"},
{Option::IR_CONTROL, "ir_control"},
{Option::HDR_MODE, "hdr_mode"},
{Option::ACCELEROMETER_RANGE, "accel_range"},
{Option::GYROSCOPE_RANGE, "gyro_range"}
};
for (auto &&it = option_names.begin(); it != option_names.end(); ++it) {
if (!api_->Supports(it->first))