add rosruby to package.xml
[ros_wild_thumper.git] / launch / wild_thumper.launch
1 <?xml version="1.0"?>
2 <launch>
3         <env name="ROSCONSOLE_CONFIG_FILE" value="$(find wild_thumper)/config/rosconsole.config"/>
4
5         <arg name="use_imu" default="true"/>
6
7         <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
8
9         <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
10
11         <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
12                 <param name="publish_frequency" value="20.0" />
13         </node>
14         <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen"/>
15
16         <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
17                 <rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
18         </node>
19
20         <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="true">
21                 <param name="enable_odom_tf" value="true" unless="$(arg use_imu)"/>
22                 <param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
23         </node>
24
25         <node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen" if="$(arg use_imu)">
26                 <param name="uid" value="6DdNSn"/>
27         </node>
28
29         <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
30                 <arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
31                 <arg name="nodelet_manager_name" value="nodelet_manager" />
32         </include>
33
34         <node pkg="robot_localization" type="ekf_localization_node" name="ekf" clear_params="true" output="screen" if="$(arg use_imu)">
35                 <rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
36                 <remap from="odometry/filtered" to="odom_combined"/>
37         </node>
38
39         <node pkg="gpsd_client" type="gpsd_client"  name="gpsd_client" output="screen">
40                 <param name="use_gps_time" value="false"/>
41                 <param name="frame_id" value="base_footprint"/>
42         </node>
43
44         <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" output="screen">
45                 <param name="magnetic_declination_radians" value="0.047"/>
46                 <param name="yaw_offset" value="0.0"/>
47                 <param name="zero_altitude" value="true"/>
48                 <param name="broadcast_utm_transform" value="true"/>
49
50                 <remap from="/imu/data" to="imu"/>
51                 <remap from="/gps/fix" to="fix" />
52                 <remap from="/odometry/filtered" to="odom_combined"/>
53                 <remap from="/odometry/gps" to="gps"/>
54         </node>
55
56         <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/>
57
58         <node pkg="wild_thumper" type="sensor_board.py" name="sensor_board" output="screen"/>
59         <node pkg="wild_thumper" type="ledstripe.rb" name="led_stripe" output="screen"/>
60 </launch>