added new launch file

Author: jagat

launch/vn_100_cont.launch

@@ -5,7 +5,7 @@
     <arg name="port" default="/dev/ttyUSB0" />
     <arg name="frame_id" default="$(arg imu)"/>
     <arg name="baudrate" default="460800"/>
-    <arg name="imu_rate" default="400"/>
+    <arg name="imu_rate" default="100"/>
 
     <!-- Sync out settings -->
     <!-- to disable this just set it to < 0 -->

launch/vn_100_cont_separate_from_camera.launch

@@ -0,0 +1,56 @@
+<launch>
+    <arg name="output" default="screen"/>
+    <arg name="imu" default="imu"/>
+
+    <arg name="port" default="/dev/ttyUSB0" />
+    <arg name="frame_id" default="$(arg imu)"/>
+    <arg name="baudrate" default="460800"/>
+    <arg name="imu_rate" default="100"/>
+
+    <!-- Sync out settings -->
+    <!-- to disable this just set it to < 0 -->
+    <arg name="sync_rate" default="0"/>
+    <arg name="sync_pulse_width_us" default="1000"/>
+    
+    <!-- Time to use settings -->
+    <arg name="use_imu_clock" default="false"/>
+
+    <!-- Binary settings -->
+    <arg name="binary_output" default="true"/>
+    <arg name="binary_async_mode" default="1"/>
+
+    <arg name="imu_compensated" default="false"/>
+
+    <!-- VPE settings -->
+    <arg name="vpe_enable" default="true"/>
+    <arg name="vpe_heading_mode" default="1"/>
+    <arg name="vpe_filtering_mode" default="1"/>
+    <arg name="vpe_tuning_mode" default="1"/>
+
+    <!-- Ros Topic settings -->
+    <arg name="enable_mag" default="true"/>
+    <arg name="enable_pres" default="true"/>
+    <arg name="enable_temp" default="true"/>
+    <arg name="enable_rpy" default="false"/>
+
+    <node pkg="imu_vn_100" name="$(arg imu)" type="imu_vn_100_node" output="$(arg output)">
+        <param name="port" type="string" value="$(arg port)"/>
+        <param name="use_imu_clock" value="$(arg use_imu_clock)"/>
+        <param name="baudrate" type="int" value="$(arg baudrate)"/>
+        <param name="frame_id" type="string" value="$(arg frame_id)"/>
+        <param name="imu_rate" type="int" value="$(arg imu_rate)"/>
+        <param name="binary_output" type="bool" value="$(arg binary_output)"/>
+        <param name="binary_async_mode" type="int" value="$(arg binary_async_mode)"/>
+        <param name="imu_compensated" type="bool" value="$(arg imu_compensated)"/>
+        <param name="enable_mag" type="bool" value="$(arg enable_mag)"/>
+        <param name="enable_pres" type="bool" value="$(arg enable_pres)"/>
+        <param name="enable_temp" type="bool" value="$(arg enable_temp)"/>
+        <param name="enable_rpy" type="bool" value="$(arg enable_rpy)"/>
+        <param name="sync_rate" type="int" value="$(arg sync_rate)"/>
+        <param name="sync_pulse_width_us" type="int" value="$(arg sync_pulse_width_us)"/>
+        <param name="vpe/enable" type="bool" value="$(arg vpe_enable)"/>
+        <param name="vpe/heading_mode" type="int" value="$(arg vpe_heading_mode)"/>
+        <param name="vpe/filtering_mode" type="int" value="$(arg vpe_filtering_mode)"/>
+        <param name="vpe/tuning_mode" type="int" value="$(arg vpe_tuning_mode)"/>
+    </node>
+</launch>