added robot_pose_ekf
[ros_wild_thumper.git] / 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="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen">
12                 <rosparam file="$(find wild_thumper)/cfg/razor.yaml" command="load"/>
13         </node>
14
15         <node pkg="wild_thumper" type="move_base.py" name="move_base" output="screen" respawn="true" />
16
17         <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen">
18                 <remap from="imu_data" to="imu"/>
19                 <param name="output_frame" value="odom"/>
20                 <param name="freq" value="20.0"/>
21                 <param name="vo_used" value="false"/>
22                 <param name="debug" value="true"/>
23         </node>
24 </launch>