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tomas789/imu_vins_mobile.yaml

Created June 5, 2018 08:34
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imu_vins_mobile.yaml
#Accelerometers
accelerometer_noise_density: 0.02 #Noise density (continuous-time)
accelerometer_random_walk: 0.002 #Bias random walk
#Gyroscopes
gyroscope_noise_density: 0.02 #Noise density (continuous-time)
gyroscope_random_walk: 4.0e-5 #Bias random walk
rostopic: /imu0 #the IMU ROS topic
update_rate: 100.0 #Hz (for discretization of the values above)
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