This simple node:
- merges
/imu/accel
and/imu/gyro
(geometry_msgs/Vector3Stamped
) in/leo_imu/data_raw
(sensor_msgs/Imu
) - merges
/wheel_odom
(geometry_msgs/TwistStamped
) and/wheel_pose
(geometry_msgs/PoseStamped
) in/leo_odom
(nav_msgs/Odometry
) - converts
/imu/mag
(geometry_msgs/Vector3Stamped
) in/leo_imu/mag
(sensor_msgs/MagneticField
)
Firmware 1.2.0 has a bug that will prevent this node to merge topics under /leo_odom
.
See this issue.
The solution is described in the issue itself: you have to recompile and flash the firmware by adding the missing code line.