IMU parameters

Name	Data Type	Default Value	Description
~/config_file	string	""	Path to a JSON configuration file to be used when configuring the node. Absolute path to a file, or relative path from a package’s share directory possible, if prefixed by package://<my_package>/path/to/config.json. Relative path without package:// prefix is assumed to be relative to ifm3d_ros2 share directory. Parameter is ignored if "" is provided.
~/imu.publish_averaged_data	bool	false	Collected IMU samples are averaged and published as sensor_msgs/Imu message.
~/imu.publish_bulk_data	bool	false	Collected IMU samples are published in bulk for further processing by the user as ifm3d_ros2/ImuBurst message.
~/ip	String	"192.168.0.69"	The IP address of the OVP8xx platform.
~/pcic_port	Integer	50016	The TCP port the PCIC server for the active application is listening to. Can be read out in the JSON configuration at the "/applications/instances/appX/data/PcicTCPPort" key, or retrieved using the ifm3d API with O3R->Port("appX").pcic_port, where "appX" is the active application.
~/publish_uncompressed	bool	false	If true, most sensor messages will be published best_effort instead of reliable.
~/tf.base_frame_name	String	"ifm_base_link"	Name for ifm reference frame.
~/tf.imu_frame_name	String	"imu_link"	Name for the sensor frame, used for tf publication and as frame_id in messages.
~/tf.mounting_frame_name	String	"vpu_mounting_link"	Name for the mounting point frame.
~/tf.publish_base_to_mounting	bool	true	Whether the transform from the ifm base link to the VPU mounting point should be published.
~/tf.publish_mounting_to_imu	bool	true	Whether the transform from the VPU mounting point link to the imu sensor frame should be published.
~/use_timestamp_from_device	bool	true	Uses timestamp from VPU for messages if true; uses ROS time if false.
~/xmlrpc_port	Integer	80	The TCP port the XMLRPC server for the active application is listening to. Typically, the default value can be used.