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Refactor: Unify accelerometer and gyroscope into single IMU control

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- Replace separate accel/gyro parameters with unified IMU parameters
- Consolidate topics from separate streams to single /lidar/imu/sample
- Simplify launch file configuration with single enable_imu flag
- Update documentation and extrinsics to reflect unified structure
This commit is contained in:
xiexun
2025-08-05 21:51:06 +08:00
parent af8606729f
commit 9d4e270e9b
6 changed files with 175 additions and 246 deletions
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orbbec_camera/launch/lidar.launch.py
+2 -5
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@@ -77,12 +77,9 @@ def generate_launch_description():
DeclareLaunchArgument('time_domain', default_value='device'),# global, device, system
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
DeclareLaunchArgument('enable_accel', default_value='false'),
DeclareLaunchArgument('accel_rate', default_value='50hz'),
DeclareLaunchArgument('enable_imu', default_value='true'),
DeclareLaunchArgument('imu_rate', default_value='50hz'),
DeclareLaunchArgument('accel_range', default_value='2g'),
DeclareLaunchArgument('enable_gyro', default_value='false'),
DeclareLaunchArgument('gyro_rate', default_value='50hz'),
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
]