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feat(ros): added imu process mode in mynteye.launch

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This commit is contained in:
Osenberg 2019-03-21 19:43:38 +08:00
parent 6ed0e209fd
commit fee2e140c2
2 changed files with 14 additions and 0 deletions
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7
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
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@ -58,6 +58,10 @@
<arg name="standard2/request_index" default="$(arg index_s2_2)" /> <arg name="standard2/request_index" default="$(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 --> <!-- MYNTEYE-S1030, Reslution: 752x480, Format: YUYV -->
<arg name="index_s_0" default="0" /> <arg name="index_s_0" default="0" />
<!-- MYNTEYE-S1030, Reslution: 376x240, Format: YUYV --> <!-- MYNTEYE-S1030, Reslution: 376x240, Format: YUYV -->
@ -272,6 +276,9 @@
<param name="standard/request_index" value="$(arg standard/request_index)" /> <param name="standard/request_index" value="$(arg standard/request_index)" />
<param name="standard2/request_index" value="$(arg standard2/request_index)" /> <param name="standard2/request_index" value="$(arg standard2/request_index)" />
<!-- imu data process -->
<param name="standard2/imu_process_mode" value="$(arg standard2/imu_process_mode)" />
<!-- device options of standard--> <!-- device options of standard-->
<param name="standard/gain" value="$(arg standard/gain)" /> <param name="standard/gain" value="$(arg standard/gain)" />

7
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -1099,6 +1099,13 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
frame_rate_ = api_->GetOptionValue(Option::FRAME_RATE); 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 :("); NODELET_FATAL_COND(m <= 0, "No MYNT EYE devices :(");
if (m <= 1) { if (m <= 1) {
NODELET_INFO_STREAM("Only one stream request, select index: 0"); NODELET_INFO_STREAM("Only one stream request, select index: 0");