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icub-model-generator commit: robotology/icub-models-generator@98d0ff6 urdf_parser_py commit: ros/urdf_parser_py@31474b9 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@9431d99
robotology · Sep 1, 2023 · 308914e · 308914e
1 parent 799ae07
commit 308914e
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diff --git a/iCub/conf/gazebo_icub_xsens_inertial.ini b/iCub/conf/gazebo_icub_xsens_inertial.ini
@@ -1,7 +1,7 @@
 [include "gazebo_icub_robotname.ini"]
 
 name /${gazeboYarpPluginsRobotName}/xsens_inertial
-period 0.0025
+period 2
 
-device inertial
+device multipleanalogsensorsserver
 subdevice gazebo_imu
diff --git a/iCub/conf/icub.xml b/iCub/conf/icub.xml
@@ -30,6 +30,6 @@
     <!-- INERTIAL SENSOR-->
     <xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
 <!--  NOT USED RIGHT NOW
-    <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" /> -->
+    <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" /> -->    
     </devices>
 </robot>