Added GPS, fixed baudrate to 9600

Futu-reADS · May 1, 2024 · d805f43 · d805f43
1 parent b85048a
commit d805f43
Showing 1 changed file with 2 additions and 2 deletions.
diff --git 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