From 6d4d34f94cc336c475fe557a37be0c351ac8898f Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 17 Oct 2015 08:38:08 +0200
Subject: [PATCH] robot_pose_ekf: use vo for gps input as it will work without
 active gps signal

---
 launch/wild_thumper.launch | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 0529577..bf7217d 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -36,11 +36,11 @@
 
 	<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="vo" to="gps"/>
 		<remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
 		<param name="output_frame" value="odom"/>
 		<param name="freq" value="20.0"/>
-		<param name="vo_used" value="false"/>
-		<param name="gps_used" value="true"/>
+		<param name="vo_used" value="true"/>
 		<param name="debug" value="false"/>
 		<param name="sensor_timeout" value="2.0"/>
 	</node>
-- 
2.39.5