X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;ds=sidebyside;f=launch%2Fwild_thumper.launch;h=61d2511f0f3564548fcd789187e847e703d7039f;hb=83ad498c34bd5ccdc12d98ebc59e8a5b3a5165b2;hp=567d95a3d1bcb9784c24bcf4aadeef89c6bda0fb;hpb=53c52f19f4cd243c9f5a66780ca365d54820761f;p=ros_wild_thumper.git

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 567d95a..61d2511 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -12,16 +12,16 @@
 	<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen"/>
 
 	<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
-		<rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml"/>
+		<rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
 	</node>
 
-	<node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="true">
+	<node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="true">
 		<param name="enable_odom_tf" value="true" unless="$(arg use_imu)"/>
 		<param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
 	</node>
 
 	<node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen" if="$(arg use_imu)">
-		<rosparam file="$(find wild_thumper)/cfg/razor.yaml" command="load"/>
+		<rosparam file="$(find wild_thumper)/config/razor.yaml" command="load"/>
 	</node>
 
 	<node pkg="gpsd_client" type="gpsd_client"  name="gpsd_client" output="screen">
@@ -41,13 +41,12 @@
 		<param name="output_frame" value="odom"/>
 		<param name="freq" value="20.0"/>
 		<param name="vo_used" value="true"/>
-		<param name="debug" value="true"/>
+		<param name="debug" value="false"/>
 		<param name="sensor_timeout" value="2.0"/>
 	</node>
-	<!-- <include file="$(find wild_thumper)/launch/robot_localization.launch" if="$(arg use_imu)"/> -->
 
 	<include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
-		<arg name="config_file" value="$(find wild_thumper)/cfg/cmd_vel_mux.yaml" />
+		<arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
 		<arg name="nodelet_manager_name" value="nodelet_manager" />
 	</include>
 </launch>