3 <arg name="use_imu" default="true"/>
5 <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
7 <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>
8 <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen"/>
10 <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
11 <rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml"/>
14 <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="true">
15 <param name="enable_odom_tf" value="true" unless="$(arg use_imu)"/>
16 <param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
19 <node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen" if="$(arg use_imu)">
20 <rosparam file="$(find wild_thumper)/cfg/razor.yaml" command="load"/>
23 <node pkg="gpsd_client" type="gpsd_client" name="gpsd_client" output="screen">
24 <param name="use_gps_time" value="false"/>
27 <node pkg="gps_common" type="utm_odometry_node" name="gps_conv">
28 <remap from="odom" to="odom_gps"/>
29 <param name="frame_id" value="base_footprint"/>
32 <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
33 <remap from="imu_data" to="imu"/>
34 <remap from="vo" to="odom_gps"/>
35 <remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
36 <param name="output_frame" value="odom"/>
37 <param name="freq" value="20.0"/>
38 <param name="vo_used" value="true"/>
39 <param name="debug" value="true"/>
40 <param name="sensor_timeout" value="2.0"/>