gyro.yaml

Ev3Gyro:
  type: h4r_ev3_control/Ev3GyroController #Controller Type
  frame_id: gyro_link #Frame ID for IMU message
  topic_name: /gyro #Topic Name
  publish_rate: 10 #Publish Rate
  port: in4 #EV3 Input Port 
  mode: angle 
  # mode: 
  # angle - returns the angle in a imu message
  # rate - returns the turning rate
  # rate&angle - returns the angle and the rate (WARNING: according to EV3Dev documentation the driver crashes when reaching an angle of around 32000!)"