launch/wild_thumper.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro" />
   4
   5         <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
   6
   7         <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >
   8                 <rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml" />
   9         </node>
  10
  11         <node pkg="wild_thumper" type="move_base.py" name="move_base" output="screen" respawn="true">
  12                 <param name="enable_odom_tf" value="false" />
  13         </node>
  14
  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"/>
  17         </node>
  18
  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"/>
  25         </node>
  26 </launch>