From fee2e140c2c466653201570d3be303fe2eb51154 Mon Sep 17 00:00:00 2001
From: Osenberg <junyangqu@slightech.com>
Date: Thu, 21 Mar 2019 19:43:38 +0800
Subject: [PATCH] feat(ros): added imu process mode in mynteye.launch

---
 .../ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch     | 7 +++++++
 .../ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc    | 7 +++++++
 2 files changed, 14 insertions(+)

diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
index b82dc5d..0ef6e42 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -58,6 +58,10 @@
 
   <arg name="standard2/request_index" default="$(arg index_s2_2)" />
 
+  <!-- standard2/imu_process_mode range: [0,3] -->
+  <!-- 0 - none process, 1 - temperature process, 2 - scale and assembly process, 3 - both -->
+  <arg name="standard2/imu_process_mode" default="0" />
+
   <!-- MYNTEYE-S1030, Reslution: 752x480, Format: YUYV -->
   <arg name="index_s_0"   default="0" />
   <!-- MYNTEYE-S1030, Reslution: 376x240, Format: YUYV -->
@@ -272,6 +276,9 @@
       <param name="standard/request_index" value="$(arg standard/request_index)" />
       <param name="standard2/request_index" value="$(arg standard2/request_index)" />
 
+      <!-- imu data process -->
+      <param name="standard2/imu_process_mode" value="$(arg standard2/imu_process_mode)" />
+
       <!-- device options of standard-->
 
       <param name="standard/gain" value="$(arg standard/gain)" />
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index 0ff0e2d..c6d96ce 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -1099,6 +1099,13 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       frame_rate_ = api_->GetOptionValue(Option::FRAME_RATE);
     }
 
+    std::int32_t process_mode = 0;
+    if (model_ == Model::STANDARD2 ||
+        model_ == Model::STANDARD210A) {
+      private_nh_.getParam("standard2/imu_process_mode", process_mode);
+      api_->EnableProcessMode(process_mode);
+    }
+
     NODELET_FATAL_COND(m <= 0, "No MYNT EYE devices :(");
     if (m <= 1) {
       NODELET_INFO_STREAM("Only one stream request, select index: 0");