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parametrize imu input for ros dummy att estimator

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Thomas Gubler
2015-02-04 21:34:56 +01:00
parent 515266c163
commit 18cc20b04b
3 changed files with 5 additions and 1 deletions
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src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp
+3 -1
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@@ -48,9 +48,11 @@
AttitudeEstimator::AttitudeEstimator() :
_n(),
// _sub_modelstates(_n.subscribe("/gazebo/model_states", 1, &AttitudeEstimator::ModelStatesCallback, this)),
_sub_imu(_n.subscribe("/px4_multicopter/imu", 1, &AttitudeEstimator::ImuCallback, this)),
_vehicle_attitude_pub(_n.advertise<px4::vehicle_attitude>("vehicle_attitude", 1))
{
std::string vehicle_model;
_n.param("vehicle_model", vehicle_model, std::string("iris"));
_sub_imu = _n.subscribe("/" + vehicle_model + "/imu", 1, &AttitudeEstimator::ImuCallback, this);
}
void AttitudeEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstPtr &msg)