3 <env name="ROSCONSOLE_CONFIG_FILE" value="$(find wild_thumper)/config/rosconsole.config"/>
5 <arg name="use_imu" default="true"/>
7 <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
10 <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
12 <param name="robot_description" command="$(find xacro)/xacro.py $(find wt_open_manipulator)/urdf/wild_thumper_with_manipulator.urdf.xacro use_nominal_extrinsics:=false"/>
14 <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
15 <param name="publish_frequency" value="20.0" />
17 <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen">
18 <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro" />
21 <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
22 <rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
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)"/>
30 <node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen" respawn="true" if="$(arg use_imu)">
31 <param name="uid" value="6DdNSn"/>
34 <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
35 <arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
36 <arg name="nodelet_manager_name" value="nodelet_manager" />
39 <node pkg="robot_localization" type="ekf_localization_node" name="ekf" clear_params="true" output="screen" if="$(arg use_imu)">
40 <rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
41 <remap from="odometry/filtered" to="odom_combined"/>
44 <node pkg="gpsd_client" type="gpsd_client" name="gpsd_client" output="screen">
45 <param name="use_gps_time" value="false"/>
46 <param name="frame_id" value="base_footprint"/>
49 <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" output="screen">
50 <param name="magnetic_declination_radians" value="0.047"/>
51 <param name="yaw_offset" value="0.0"/>
52 <param name="zero_altitude" value="true"/>
53 <param name="broadcast_utm_transform" value="true"/>
55 <remap from="/imu/data" to="imu"/>
56 <remap from="/gps/fix" to="fix" />
57 <remap from="/odometry/filtered" to="odom_combined"/>
58 <remap from="/odometry/gps" to="gps"/>
61 <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/>
63 <node pkg="wild_thumper" type="sensor_board.py" name="sensor_board" output="screen"/>
64 <node pkg="wild_thumper" type="ledstripe.rb" name="led_stripe" output="screen"/>
66 <node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
67 <param name="serial_port" type="string" value="/dev/rplidar"/>
68 <param name="serial_baudrate" type="int" value="115200"/><!--A1/A2 -->
69 <param name="frame_id" type="string" value="lidar"/>
70 <param name="angle_compensate" type="bool" value="true"/>
71 <param name="scan_mode" type="string" value="Standard"/>
74 Standard: max_distance: 16.0 m, Point number: 2.0K
75 Express: max_distance: 16.0 m, Point number: 4.0K