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# Copyright: 2016-2021 www.corvin.cn ROS小课堂
# Description:使用IIC总线来读取IMU模块的数据,并
#   通过话题将imu数据发送出来.这里是可以配置的
#   一些参数.各参数意义如下:
#   pub_data_topic:发布imu数据的话题名.
#   yaw_topic:发布当前yaw偏航角的话题,单位弧度.
#   pitch_topic:发布俯仰角的话题名,单位弧度.
#   roll_topic:发布横滚角的话题名,单位弧度.
#   link_name:imu模块的urdf中link名字.
#   pub_hz:上述各话题发布的频率,默认100hz.
# Author: corvin
# History:
#   20211122:init this file.
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topic_pub_hz: 100
pub_data_topic: imu_data
yaw_topic: yaw_data
pitch_topic: pitch_data
roll_topic: roll_data
link_name: base_imu_link
get_yaw_service: /iic_imu_service/getYawData_service