From 568840e115b9591abfbbb1f7cf66047bf6ad8c0f Mon Sep 17 00:00:00 2001
From: Majid Geravand <44868211+Gfuse@users.noreply.github.com>
Date: Tue, 25 May 2021 11:37:58 +0200
Subject: [PATCH] Update Px30.launch

---
 CPU_version/vio_svo/launch/Px30.launch | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/CPU_version/vio_svo/launch/Px30.launch b/CPU_version/vio_svo/launch/Px30.launch
index f6cad34..7e3e73c 100644
--- a/CPU_version/vio_svo/launch/Px30.launch
+++ b/CPU_version/vio_svo/launch/Px30.launch
@@ -9,10 +9,10 @@
     <!-- Camera calibration file -->
     <rosparam file="$(find vio_svo)/param/px30.yaml" />
 
-    <!-- Initial camera orientation, make it point downwards -->
-    <param name="init_rx" value="-2.35619" />
-    <param name="init_ry" value="0.00" />
-    <param name="init_rz" value="0.00" />
+    <!-- IMU 2 Camera Frame -->
+    <param name="init_rx" value="1.88496" /><!--  90 + 18 -->
+    <param name="init_ry" value="0.0" /> <!--  90 -->
+    <param name="init_rz" value="0.0" /> <!-- 0  -->
 
   </node>