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Fix EKF IMU input: point imu0 at real MAVROS topic

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- ekf.yaml imu0: /imu/data -> /mavros/mavros/data (the empty /imu/data
  topic had no publisher; EKF produced no output)
- Verified: /odometry/filtered now publishes valid fused orientation
  with real Pixhawk IMU via MAVROS
- Note: high covariance expected (single budget IMU, untuned, no position
  input) - tune after Xsens/DVL added
This commit is contained in:
Grant du Toit 2026-06-20 13:39:02 +00:00
parent e36644e97e
commit 7d4e6dfc23
1 changed files with 1 additions and 1 deletions
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2
src/rov_navigation/config/ekf.yaml
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@ -12,7 +12,7 @@ ekf_filter_node:
base_link_frame: base_link base_link_frame: base_link
world_frame: odom world_frame: odom
# Xsens IMU — primary attitude source # Xsens IMU — primary attitude source
imu0: /imu/data imu0: /mavros/mavros/data
imu0_config: [false, false, false, imu0_config: [false, false, false,
true, true, true, true, true, true,
false, false, false, false, false, false,