launch/wild_thumper.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <env name="ROSCONSOLE_CONFIG_FILE" value="$(find wild_thumper)/config/rosconsole.config"/>
   4
   5         <arg name="use_imu" default="true"/>
   6
   7         <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
   8
   9         <!--
  10         <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
  11         -->
  12         <param name="robot_description" command="$(find xacro)/xacro.py $(find wt_open_manipulator)/urdf/wild_thumper_with_manipulator.urdf.xacro use_nominal_extrinsics:=false"/>
  13
  14         <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
  15                 <param name="publish_frequency" value="20.0" />
  16         </node>
  17         <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen">
  18                 <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro" />
  19         </node>
  20
  21         <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
  22                 <rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
  23         </node>
  24
  25         <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="true">
  26                 <param name="enable_odom_tf" value="true" unless="$(arg use_imu)"/>
  27                 <param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
  28         </node>
  29
  30         <node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen" respawn="true" if="$(arg use_imu)">
  31                 <param name="uid" value="6DdNSn"/>
  32         </node>
  33
  34         <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
  35                 <arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
  36                 <arg name="nodelet_manager_name" value="nodelet_manager" />
  37         </include>
  38
  39         <node pkg="robot_localization" type="ekf_localization_node" name="ekf" clear_params="true" output="screen" if="$(arg use_imu)">
  40                 <rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
  41                 <remap from="odometry/filtered" to="odom_combined"/>
  42         </node>
  43
  44         <node pkg="gpsd_client" type="gpsd_client"  name="gpsd_client" output="screen">
  45                 <param name="use_gps_time" value="false"/>
  46                 <param name="frame_id" value="base_footprint"/>
  47         </node>
  48
  49         <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" output="screen">
  50                 <param name="magnetic_declination_radians" value="0.047"/>
  51                 <param name="yaw_offset" value="0.0"/>
  52                 <param name="zero_altitude" value="true"/>
  53                 <param name="broadcast_utm_transform" value="true"/>
  54                 <param name="transform_timeout" value="0.2"/>
  55
  56                 <remap from="/imu/data" to="imu"/>
  57                 <remap from="/gps/fix" to="fix" />
  58                 <remap from="/odometry/filtered" to="odom_combined"/>
  59                 <remap from="/odometry/gps" to="gps"/>
  60         </node>
  61
  62         <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/>
  63
  64         <node pkg="wild_thumper" type="sensor_board.py" name="sensor_board" output="screen"/>
  65         <node pkg="wild_thumper" type="ledstripe.rb" name="led_stripe" output="screen"/>
  66
  67         <node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
  68                 <param name="serial_port"         type="string" value="/dev/rplidar"/>
  69                 <param name="serial_baudrate"     type="int"    value="115200"/><!--A1/A2 -->
  70                 <param name="frame_id"            type="string" value="lidar"/>
  71                 <param name="angle_compensate"    type="bool"   value="true"/>
  72                 <param name="scan_mode"           type="string" value="Standard"/>
  73                 <!--
  74                 A2 scan_modes:
  75                 Standard: max_distance: 16.0 m, Point number: 2.0K
  76                 Express: max_distance: 16.0 m, Point number: 4.0K
  77                  -->
  78         </node>
  79 </launch>