launch/wild_thumper.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <arg name="use_imu" default="true"/>
   4
   5         <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
   6
   7         <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
   8
   9         <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
  10                 <param name="publish_frequency" value="20.0" />
  11         </node>
  12         <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen"/>
  13
  14         <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
  15                 <rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
  16         </node>
  17
  18         <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="false">
  19                 <param name="enable_odom_tf" value="true" unless="$(arg use_imu)"/>
  20                 <param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
  21         </node>
  22
  23         <node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen" if="$(arg use_imu)">
  24                 <rosparam file="$(find wild_thumper)/config/razor.yaml" command="load"/>
  25         </node>
  26
  27         <node pkg="gpsd_client" type="gpsd_client"  name="gpsd_client" output="screen">
  28                 <param name="use_gps_time" value="false"/>
  29         </node>
  30
  31         <node pkg="gps_common" type="utm_odometry_node" name="gps_conv" output="screen">
  32                 <remap from="odom" to="gps"/>
  33                 <param name="frame_id" value="odom"/>
  34                 <param name="child_frame_id" value="base_footprint"/>
  35         </node>
  36
  37         <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
  38                 <remap from="imu_data" to="imu"/>
  39                 <remap from="vo" to="gps"/>
  40                 <remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
  41                 <param name="output_frame" value="odom"/>
  42                 <param name="freq" value="20.0"/>
  43                 <param name="vo_used" value="true"/>
  44                 <param name="debug" value="false"/>
  45                 <param name="sensor_timeout" value="2.0"/>
  46         </node>
  47
  48         <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
  49                 <arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
  50                 <arg name="nodelet_manager_name" value="nodelet_manager" />
  51         </include>
  52 </launch>