launch/wild_thumper.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <arg name="use_imu" default="true"/>
   4
   5         <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
   6
   7         <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
   8
   9         <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
  10                 <param name="publish_frequency" value="20.0" />
  11         </node>
  12         <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen"/>
  13
  14         <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
  15                 <rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
  16         </node>
  17
  18         <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="true">
  19                 <param name="enable_odom_tf" value="true" unless="$(arg use_imu)"/>
  20                 <param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
  21         </node>
  22
  23         <node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen">
  24                 <param name="uid" value="6DdNSn"/>
  25         </node>
  26
  27         <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
  28                 <arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
  29                 <arg name="nodelet_manager_name" value="nodelet_manager" />
  30         </include>
  31
  32         <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true" output="screen">
  33                 <rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
  34                 <remap from="odometry/filtered" to="odom_combined"/>
  35         </node>
  36 </launch>