From fba3171a77c3b13b385e6205387aa630be042b93 Mon Sep 17 00:00:00 2001
From: Sherif Nafee <shico.m.nafee@gmail.com>
Date: Wed, 23 Jul 2025 15:06:12 +0300
Subject: [PATCH] Fix imu noise application

---
 Runtime/Tx/ImuTx.cs | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/Runtime/Tx/ImuTx.cs b/Runtime/Tx/ImuTx.cs
index a54cce0..c3f34f3 100644
--- a/Runtime/Tx/ImuTx.cs
+++ b/Runtime/Tx/ImuTx.cs
@@ -62,6 +62,10 @@ void FixedUpdate()
         }
         protected override ProBridge.ProBridge.Msg GetMsg(TimeSpan ts)
         {
+            data.angular_velocity = _angularVelocity.ToRosAngular();
+            data.linear_acceleration = _acceleration.ToRos();
+            data.orientation = _orientation.ToRos();
+            
             if (applyNoise)
             {
                 data.angular_velocity.x += GaussianNoise.Generate(angularVelocityNoiseStdDev);
@@ -82,10 +86,6 @@ protected override ProBridge.ProBridge.Msg GetMsg(TimeSpan ts)
                 
                 data.orientation = orientationWithNoise.ToRos();
             }            
-            
-            data.angular_velocity = _angularVelocity.ToRosAngular();
-            data.linear_acceleration = _acceleration.ToRos();
-            data.orientation = _orientation.ToRos();
 
             return base.GetMsg(ts);
         }