9f2c28769b1640e084175144c0e7357e6db2f1b0
[ros_wild_thumper.git] / 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="false">
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         <node pkg="gpsd_client" type="gpsd_client"  name="gpsd_client" output="screen">
28                 <param name="use_gps_time" value="false"/>
29         </node>
30
31         <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
32                 <arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
33                 <arg name="nodelet_manager_name" value="nodelet_manager" />
34         </include>
35
36         <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
37                 <remap from="imu_data" to="imu"/>
38                 <remap from="vo" to="gps"/>
39                 <remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
40                 <param name="output_frame" value="odom"/>
41                 <param name="freq" value="20.0"/>
42                 <param name="vo_used" value="false"/>
43                 <param name="debug" value="false"/>
44                 <param name="sensor_timeout" value="2.0"/>
45         </node>
46
47         <node pkg="gps_common" type="utm_odometry_node" name="gps_conv" output="screen">
48                 <remap from="odom" to="gps"/>
49                 <param name="frame_id" value="odom"/>
50                 <param name="child_frame_id" value="base_footprint"/>
51         </node>
52
53         <!--
54         <include file="$(find wild_thumper)/launch/robot_localization.launch" if="$(arg use_imu)"/>
55         <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node">
56                 <param name="magnetic_declination_radians" value="0.48"/>
57                 <param name="yaw_offset" value="1.5708"/>
58                 <param name="zero_altitude" value="true"/>
59                 <param name="broadcast_utm_transform" value="true"/>
60
61                 <remap from="/imu/data" to="imu"/>
62                 <remap from="/gps/fix" to="fix" />
63                 <remap from="/odometry/filtered" to="odom_combined"/>
64                 <remap from="/odometry/gps" to="gps"/>
65         </node>
66         -->
67 </launch>