From d805f43e8402fc997fd241b9ebdbf2ef78541cc3 Mon Sep 17 00:00:00 2001
From: "liam.jemmeson" <ljemmeson@gmail.com>
Date: Wed, 1 May 2024 14:51:59 +0900
Subject: [PATCH] Added GPS, fixed baudrate to 9600

---
 config/wt905.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/config/wt905.yml b/config/wt905.yml
index aaa5506..5a59a69 100644
--- a/config/wt905.yml
+++ b/config/wt905.yml
@@ -1,7 +1,7 @@
 witmotion:
   ros__parameters:
     port: ttyUSB0
-    baud_rate: 115200 # baud
+    baud_rate: 9600 # baud
     polling_interval: 5 # ms
     timeout_ms: 150 # ms
     restart_service_name: /restart_imu
@@ -51,7 +51,7 @@ witmotion:
       enabled: false
       topic_name: /orientation
     gps_publisher:
-      enabled: false
+      enabled: true
       navsat_fix_frame_id: world
       navsat_fix_topic_name: /gps
       navsat_altitude_topic_name: /gps_altitude