3 <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro" />
5 <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
7 <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >
8 <rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml" />
11 <node pkg="wild_thumper" type="move_base.py" name="move_base" output="screen" respawn="true">
12 <param name="enable_odom_tf" value="false" />
15 <node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen">
16 <rosparam file="$(find wild_thumper)/cfg/razor.yaml" command="load"/>
19 <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen">
20 <remap from="imu_data" to="imu"/>
21 <param name="output_frame" value="odom"/>
22 <param name="freq" value="20.0"/>
23 <param name="vo_used" value="false"/>
24 <param name="debug" value="true"/>