Added BNO055 IMU to the robot to improve position accuracy. In this PR are all config changes as well as some move_base tunning (it isn't finished though). Also there's republishing node - msgs with imu and odom data from STM are as small as possible, so I didn't include covariances there.
Added BNO055 IMU to the robot to improve position accuracy. In this PR are all config changes as well as some move_base tunning (it isn't finished though). Also there's republishing node - msgs with imu and odom data from STM are as small as possible, so I didn't include covariances there.