<?xml version="1.0"?>
<launch>
+ <arg name="use_imu" default="true"/>
+
+ <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
+
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find wild_thumper)/config/control.yaml" command="load" />
+ <rosparam param="/diff_drive_controller/enable_odom_tf" unless="$(arg use_imu)">true</rosparam>
<include file="$(find gazebo_ros)/launch/empty_world.launch" >
<arg name="world_name" value="$(find wild_thumper)/worlds/test.world" />
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" output="screen" ns="/" args="joint_state_controller diff_drive_controller"/>
- <node name="relay_cmd_vel" pkg="topic_tools" type="relay" output="screen" args="/cmd_vel /diff_drive_controller/cmd_vel" />
+ <node name="relay_cmd_vel" pkg="topic_tools" type="relay" output="screen" args="/cmd_vel_out /diff_drive_controller/cmd_vel" />
<node name="relay_odom" pkg="topic_tools" type="relay" output="screen" args="/diff_drive_controller/odom /odom" />
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
<remap from="/image" to="/camera/depth/image_raw"/>
</node>
- <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen">
+ <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
<remap from="imu_data" to="imu"/>
<remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
<param name="output_frame" value="odom"/>
<param name="debug" value="true"/>
<param name="sensor_timeout" value="2.0"/>
</node>
+
+ <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
+ <arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
+ <arg name="nodelet_manager_name" value="nodelet_manager" />
+ </include>
</launch>