pose_pressure_sensor_fix.yaml

data_playback: true

core/core_fixed_bias: false
core/enable_tcp_no_delay: false

#########IMU PARAMETERS#######
####### bluebird
core/core_noise_acc: 0.083
core/core_noise_accbias: 0.0083
core/core_noise_gyr: 0.0013
core/core_noise_gyrbias: 0.00013
####### ADIS
#core/core_noise_acc: 0.002
#core/core_noise_accbias: 8e-5
#core/core_noise_gyr: 0.0004
#core/core_noise_gyrbias: 3e-6

pose_sensor/pose_fixed_scale: false
pose_sensor/pose_noise_scale: 0.0
pose_sensor/pose_noise_p_wv: 0.0
pose_sensor/pose_noise_q_wv: 0.0
pose_sensor/pose_noise_q_ic: 0.0
pose_sensor/pose_noise_p_ic: 0.0
pose_sensor/pose_delay: 0.02
pose_sensor/pose_noise_meas_p: 0.01
pose_sensor/pose_noise_meas_q: 0.02
pose_sensor/pose_initial_scale: 1

# initialization of camera w.r.t. IMU
#bluebird
#pose_sensor/init/q_ic/w: 0.0
#pose_sensor/init/q_ic/x: 1
#pose_sensor/init/q_ic/y: -1
#pose_sensor/init/q_ic/z: 0
#pose_sensor/init/p_ic/x: 0.0   
#pose_sensor/init/p_ic/y: 0.0
#pose_sensor/init/p_ic/z: 0.0
 
###SLAM sensor 
pose_sensor/init/q_ic/w: 0
pose_sensor/init/q_ic/x: 0
pose_sensor/init/q_ic/y: 0
pose_sensor/init/q_ic/z: 1
pose_sensor/init/p_ic/x: 0.0745374   
pose_sensor/init/p_ic/y: -0.086751
pose_sensor/init/p_ic/z: 0.0123919

pose_sensor/pose_fixed_scale: false
pose_sensor/pose_fixed_p_ic: false
pose_sensor/pose_fixed_q_ic: false
pose_sensor/pose_fixed_p_wv: false
pose_sensor/pose_fixed_q_wv: false

pose_sensor/pose_absolute_measurements: true
pose_sensor/pose_use_fixed_covariance: false
pose_sensor/pose_measurement_world_sensor: false  # selects if sensor measures its position w.r.t. world (true, e.g. Vicon) or the position of the world coordinate system w.r.t. the sensor (false, e.g. ethzasl_ptam)
pose_sensor/enable_tcp_no_delay: false