Configuration

Tip

All configuration options are documented in the params.yml. Please refer to that file for a list of parameters

The microstrain_inertial_driver launch files accept a params_file argument that allow users to easily configure desired parameters.

Override Parameters for ROS

1. Copy and paste the line(s) you desire to change from params.yml into a new .yml file. We will call it ~/my_params.yml for this example. This new .yml file will override the default params.yml and if there are multiple lines of the same parameter, the last instance of the parameter will take precedence.

2. Launch the driver and specify the new params file:

   roslaunch microstrain_inertial_driver microstrain.launch params_file:=$HOME/my_params.yml
   

Override Parameters for ROS2

1. Copy the file empty.yml to a new .yml file. For this example we will call the new file ~/my_params.yml. This new .yml file will override the default params.yml and if there are multiple lines of the same parameter, the last instance of the parameter will take precedence.

2. Copy and paste the line(s) you desire to change from params.yml into ~/my_params.yml\.

3. Launch the driver and specify the new params file:

   ros2 launch microstrain_inertial_driver microstrain_launch.py params_file:=$HOME/my_params.yml