follow_uwb: Variable speed dependant on distance to target

[ros_wild_thumper.git] / launch / gazebo.launch

diff --git a/launch/gazebo.launch b/launch/gazebo.launch
index 7580d4e0c04fce6be27fbfca94c7505c218f0620..5be2fd6bc31e4583c135480f400013f7ee266e63 100644 (file)
--- a/launch/gazebo.launch
+++ b/launch/gazebo.launch
@@ -30,14 +30,9 @@
                <remap from="/image" to="/camera/depth/image_raw"/>
         </node>
 
-       <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
-               <remap from="imu_data" to="imu"/>
-               <remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
-               <param name="output_frame" value="odom"/>
-               <param name="freq" value="20.0"/>
-               <param name="vo_used" value="false"/>
-               <param name="debug" value="true"/>
-               <param name="sensor_timeout" value="2.0"/>
+       <node pkg="robot_localization" type="ekf_localization_node" name="ekf" clear_params="true" output="screen" if="$(arg use_imu)">
+               <rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
+               <remap from="odometry/filtered" to="odom_combined"/>
        </node>
 
        <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">