From 6b0ea58e952173a68b4168982af7fd9da4c556f3 Mon Sep 17 00:00:00 2001 From: David Date: Sat, 24 May 2025 00:02:28 +0000 Subject: [PATCH] feat: add imu calibration for core --- src/core_pkg/core_pkg/core_node.py | 1 + src/ros2_interfaces_pkg | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/src/core_pkg/core_pkg/core_node.py b/src/core_pkg/core_pkg/core_node.py index a2b5cd3..95228ea 100644 --- a/src/core_pkg/core_pkg/core_node.py +++ b/src/core_pkg/core_pkg/core_node.py @@ -203,6 +203,7 @@ class SerialRelay(Node): self.core_feedback.bno_gyro.x = float(parts[3]) self.core_feedback.bno_gyro.y = float(parts[4]) self.core_feedback.bno_gyro.z = float(parts[5]) + self.core_feedback.imu_calib = float(parts[6]) elif output.startswith("can_relay_fromvic,core,52"):#Accel x,y,z, heading *10 self.core_feedback.bno_accel.x = float(parts[3]) self.core_feedback.bno_accel.y = float(parts[4]) diff --git a/src/ros2_interfaces_pkg b/src/ros2_interfaces_pkg index 3db6c94..021dd0c 160000 --- a/src/ros2_interfaces_pkg +++ b/src/ros2_interfaces_pkg @@ -1 +1 @@ -Subproject commit 3db6c9483300ddec637c8745bcde3d1017686470 +Subproject commit 021dd0c3dd0bdbad0e653388fa6c73188257dd9b