From 18cc20b04b735c19607636a99f0656602d3d6fee Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 2 Feb 2015 23:02:42 +0100
Subject: [PATCH] parametrize imu input for ros dummy att estimator

---
 launch/ardrone.launch                                         | 1 +
 launch/gazebo_ardrone_empty_world.launch                      | 1 +
 .../ros/nodes/attitude_estimator/attitude_estimator.cpp       | 4 +++-
 3 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/launch/ardrone.launch b/launch/ardrone.launch
index d53333b118..3173e7cf1a 100644
--- a/launch/ardrone.launch
+++ b/launch/ardrone.launch
@@ -9,6 +9,7 @@
 	<param name="MPC_XY_VEL_I" type="double" value="0.0" />
 	<param name="MPC_XY_VEL_D" type="double" value="0.01" />
 	<param name="MPC_XY_VEL_MAX" type="double" value="2.0" />
+	<param name="vehicle_model" type="string" value="ardrone" />
 </group>
 
 </launch>
diff --git a/launch/gazebo_ardrone_empty_world.launch b/launch/gazebo_ardrone_empty_world.launch
index 395e70b006..063d510960 100644
--- a/launch/gazebo_ardrone_empty_world.launch
+++ b/launch/gazebo_ardrone_empty_world.launch
@@ -1,6 +1,7 @@
 <launch>
 
 <include file="$(find mav_gazebo)/launch/ardrone_empty_world_with_joy.launch" />
+<!-- <include file="$(find mav_gazebo)/launch/ardrone_empty_world.launch" /> -->
 <include file="$(find px4)/launch/ardrone.launch" />
 
 </launch>
diff --git a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp
index 1d36e3d99c..a3e4bca302 100644
--- a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp
+++ b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp
@@ -48,9 +48,11 @@
 AttitudeEstimator::AttitudeEstimator() :
 	_n(),
 	// _sub_modelstates(_n.subscribe("/gazebo/model_states", 1, &AttitudeEstimator::ModelStatesCallback, this)),
-	_sub_imu(_n.subscribe("/px4_multicopter/imu", 1, &AttitudeEstimator::ImuCallback, this)),
 	_vehicle_attitude_pub(_n.advertise<px4::vehicle_attitude>("vehicle_attitude", 1))
 {
+	std::string vehicle_model;
+	_n.param("vehicle_model", vehicle_model, std::string("iris"));
+	_sub_imu = _n.subscribe("/" + vehicle_model + "/imu", 1, &AttitudeEstimator::ImuCallback, this);
 }
 
 void AttitudeEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstPtr &msg)