3 <arg name="use_imu" default="true"/>
5 <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
7 <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
9 <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
10 <param name="publish_frequency" value="20.0" />
12 <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen"/>
14 <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
15 <rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
18 <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="false">
19 <param name="enable_odom_tf" value="true" unless="$(arg use_imu)"/>
20 <param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
23 <node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen"/>
25 <node pkg="gpsd_client" type="gpsd_client" name="gpsd_client" output="screen">
26 <param name="use_gps_time" value="false"/>
29 <node pkg="gps_common" type="utm_odometry_node" name="gps_conv" output="screen">
30 <remap from="odom" to="gps"/>
31 <param name="frame_id" value="odom"/>
32 <param name="child_frame_id" value="base_footprint"/>
35 <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
36 <remap from="imu_data" to="imu"/>
37 <remap from="vo" to="gps"/>
38 <remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
39 <param name="output_frame" value="odom"/>
40 <param name="freq" value="20.0"/>
41 <param name="vo_used" value="true"/>
42 <param name="debug" value="false"/>
43 <param name="sensor_timeout" value="2.0"/>
46 <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
47 <arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
48 <arg name="nodelet_manager_name" value="nodelet_manager" />