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cartographer-project / cartographer_turtlebot

Provides TurtleBot integration for Cartographer.
Apache License 2.0
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How not to use IMU? #91

Closed SubMishMar closed 6 years ago

SubMishMar commented 6 years ago

I don't want to use the IMU data in the 2D demo using depth images. So, what I did was to comment out the use_imu flag in trajectory_2d.lua and also commented out the section in launch files that launches the imu related nodes. But on doing so, the code doesn't run at all and warns me that I need to provide IMU data. Is there anyway to turnoff this dependency on IMU data?

SubMishMar commented 6 years ago

Figured it out, it is just about changing true to false in: https://github.com/googlecartographer/cartographer_turtlebot/blob/f26a7246f0e2774e8f9658d8178a7a77420c22e6/cartographer_turtlebot/configuration_files/turtlebot_depth_camera_2d.lua#L50