Update xsens root_link imu configuration file in order to publish cor…

…rectly with iCubGazeboV2_7 (#246)
robotology · Sep 1, 2023 · 98d0ff6 · 98d0ff6
1 parent 2f94125
commit 98d0ff6
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/simmechanics/data/icub2_5/conf/gazebo_icub_xsens_inertial.ini b/simmechanics/data/icub2_5/conf/gazebo_icub_xsens_inertial.ini
@@ -1,7 +1,7 @@
 [include "gazebo_icub_robotname.ini"]
 
 name /${gazeboYarpPluginsRobotName}/xsens_inertial
-period 0.0025
+period 2
 
-device inertial
+device multipleanalogsensorsserver
 subdevice gazebo_imu
diff --git a/simmechanics/data/icub2_5/conf/icub.xml b/simmechanics/data/icub2_5/conf/icub.xml
@@ -30,6 +30,6 @@
     <!-- INERTIAL SENSOR-->
     <xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
 <!--  NOT USED RIGHT NOW
-    <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" /> -->
+    <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" /> -->    
     </devices>
 </robot>