void Imu::zero()
{
// zero (calibrate) gyro
CPhidgetSpatial_zeroGyro(imu_handle_);
}
void Spatial::zero()
{
// zero (calibrate) gyro
CPhidgetSpatial_zeroGyro(spatial_handle_);
}
// Zero the gyroscope when the service is called
// The procedure takes 1-2 seconds and the IMU should not move during the process
bool calibrate_gyroscope(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response)
{
CPhidgetSpatial_zeroGyro(spatial);
}