Added a ROS parameter to set the desired frequency of the IMU, as opposed to being fixed to the default of 20Hz. Changed from previous pull request: 'or' to '||' to satisfy roslint.
We've been running this code on our Husky for several weeks with no problems, using the UM6 device with full data output at 50Hz. With reduced data (disabling covariances for example), the update rate can be increased even further.
Added a ROS parameter to set the desired frequency of the IMU, as opposed to being fixed to the default of 20Hz. Changed from previous pull request: 'or' to '||' to satisfy roslint.
We've been running this code on our Husky for several weeks with no problems, using the UM6 device with full data output at 50Hz. With reduced data (disabling covariances for example), the update rate can be increased even further.