launch/wild_thumper.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <arg name="use_imu" default="true"/>
   4
   5         <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
   6
   7         <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>
   8
   9         <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
  10                 <rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml"/>
  11         </node>
  12
  13         <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="true">
  14                 <param name="enable_odom_tf" value="true" unless="$(arg use_imu)"/>
  15                 <param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
  16         </node>
  17
  18         <node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen" if="$(arg use_imu)">
  19                 <rosparam file="$(find wild_thumper)/cfg/razor.yaml" command="load"/>
  20         </node>
  21
  22         <node pkg="gpsd_client" type="gpsd_client"  name="gpsd_client" output="screen">
  23                 <param name="use_gps_time" value="false"/>
  24         </node>
  25
  26         <node pkg="gps_common" type="utm_odometry_node" name="gps_conv">
  27                 <remap from="odom" to="odom_gps"/>
  28                 <param name="frame_id" value="base_footprint"/>
  29         </node>
  30
  31         <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
  32                 <remap from="imu_data" to="imu"/>
  33                 <remap from="vo" to="odom_gps"/>
  34                 <remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
  35                 <param name="output_frame" value="odom"/>
  36                 <param name="freq" value="20.0"/>
  37                 <param name="vo_used" value="true"/>
  38                 <param name="debug" value="true"/>
  39                 <param name="sensor_timeout" value="2.0"/>
  40         </node>
  41 </launch>