Disable all tools in default microstrain config

clearpath_sensors/config/microstrain_imu.yaml

@@ -106,7 +106,7 @@ microstrain_inertial_driver:
 
     # Static transform between mount_frame_id and frame_id.
     # Note: It is recommended to define this in a urdf file if you are building a robot, or are able to modify the robot's description.
-    publish_mount_to_frame_id_transform  : True
+    publish_mount_to_frame_id_transform  : False
     mount_to_frame_id_transform          : [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0] # [ x, y, z, qi, qj, qk, qw ]
 
     # Controls if the driver outputs data with-respect-to ENU frame
@@ -162,7 +162,7 @@ microstrain_inertial_driver:
 
     # (GQ7 Only) Enable RTK dongle interface. This is required when using a 3DM-RTK
     # Note: Enabling this will cause the node to publish mip/gnss_corrections/rtk_corrections_status
-    rtk_dongle_enable : True
+    rtk_dongle_enable : False
 
     # (GQ7 Only) Allow the node to receive RTCM messages on the /rtcm topic and publish NMEA sentences from the aux port on /nmea.
     #            It is suggested to use https://github.com/LORD-MicroStrain/ntrip_client with this interface
@@ -174,8 +174,8 @@ microstrain_inertial_driver:
     # ******************************************************************
 
     # (GQ7/CV7 only) Aiding measurement control
-    filter_enable_gnss_pos_vel_aiding     : True
-    filter_enable_gnss_heading_aiding     : True
+    filter_enable_gnss_pos_vel_aiding     : False
+    filter_enable_gnss_heading_aiding     : False
     filter_enable_altimeter_aiding        : False
     filter_enable_odometer_aiding         : False
     filter_enable_magnetometer_aiding     : False
@@ -244,7 +244,7 @@ microstrain_inertial_driver:
     # (GQ7 only) GNSS Antenna Calibration Control
     # When enabled, the filter will enable lever arm error tracking, up to the maximum offset specified in meters.
     # This allows the filter to compensate for antenna offsets when they are incorrect.
-    filter_enable_gnss_antenna_cal     : True
+    filter_enable_gnss_antenna_cal     : False
     filter_gnss_antenna_cal_max_offset : 0.1
 
     # (GQ7/CV7 only) PPS Source
@@ -267,16 +267,16 @@ microstrain_inertial_driver:
     #       Quaternion order is [i, j, k, w]
     # Note: This can cause strange behavior when also using the ROS transform tree.
     #       It is recommended to not use this if you want to use the ROS transform tree unless you really know what you are doing
-    filter_sensor2vehicle_frame_selector : 1
+    filter_sensor2vehicle_frame_selector : 0
     filter_sensor2vehicle_frame_transformation_euler      : [0.0, 0.0, 0.0]
     filter_sensor2vehicle_frame_transformation_matrix     : [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
     filter_sensor2vehicle_frame_transformation_quaternion : [0.0, 0.0, 0.0, 1.0]
 
     # Controls if the Kalman filter will auto-init or requires manual initialization
-    filter_auto_init : True
+    filter_auto_init : False
 
     # Controls if the Kalman filter is reset after the settings are configured
-    filter_reset_after_config : True
+    filter_reset_after_config : False
 
     # (All, except -10, and -15 products) Declination Source 1 = None, 2 = magnetic model, 3 = manual
     # Note: When using a CV7, this MUST be changed to either 1, or 3 or the node will not start
@@ -285,7 +285,7 @@ microstrain_inertial_driver:
 
     # Controls what kind of linear acceleration data is used in the Filter IMU message.
     #     If this is set to true, the acceleration will not factor out gravity, if set to false gravity will be filtered out of the linear acceleration.
-    filter_use_compensated_accel : True
+    filter_use_compensated_accel : False
 
     # (GQ7/CV7 full support, GX5-45 limited support) Adaptive filter settings
     #     Adaptive level: 0 - off, 1 - Conservative, 2 = Moderate (default), 3 = agressive