witmotion:
  ros__parameters:
    port: ttyUSB1
    baud_rate: 921600 # baud
    polling_interval: 2 # ms
    timeout_ms: 150 # ms
    restart_service_name: /restart_imu
    imu_publisher:
      topic_name: /imu
      frame_id: imu
      use_native_orientation: false
      measurements:
        acceleration:
          enabled: true
          covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
        angular_velocity:
          enabled: true
          covariance: [0.05, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.05]
        orientation:
          enabled: true
          covariance: [0.05, 0.0, 0.0, 0.0, 0.05, 0.0, 0.0, 0.0, 0.05]
    temperature_publisher:
      enabled: false
      topic_name: /temperature
      frame_id: base_link
      from_message: magnetometer # acceleration, angular_vel, orientation, magnetometer
      variance: 0.02683
      coefficient: 1.0 # Linear calibration parameters: coefficient
      addition: 0.0 # and addendum
    magnetometer_publisher:
      enabled: false
      topic_name: /magnetometer
      frame_id: imu
      coefficient: 0.00000001 # Linear calibration parameters: coefficient
      addition: 0.0 # and addendum
      covariance:
        [0.000000187123, 0.0, 0.0, 0.0, 0.000000105373, 0.0, 0.0, 0.0, 0.000000165816]
    barometer_publisher:
      enabled: false
      topic_name: /barometer
      frame_id: base_link
      variance: 0.001
      coefficient: 1.0 # Linear calibration parameters: coefficient
      addition: 0.0 # and addendum
    altimeter_publisher:
      enabled: false
      topic_name: /altitude
      coefficient: 1.0 # Linear calibration parameters: coefficient
      addition: 0.0 # and addendum
    orientation_publisher:
      enabled: false
      topic_name: /orientation
    gps_publisher:
      enabled: false
      navsat_fix_frame_id: world
      navsat_fix_topic_name: /gps
      navsat_altitude_topic_name: /gps_altitude
      navsat_satellites_topic_name: /gps_satellites
      navsat_variance_topic_name: /gps_variance
      ground_speed_topic_name: /gps_ground_speed
    rtc_publisher:
      enabled: false
      topic_name: /witmotion_clock
      presync: true
