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[ros_wild_thumper.git] / launch / gazebo.launch

diff --git a/launch/gazebo.launch b/launch/gazebo.launch
index b93b250452b10b7eba29fede1a502f1ddc2c4f4a..5be2fd6bc31e4583c135480f400013f7ee266e63 100644 (file)
--- a/launch/gazebo.launch
+++ b/launch/gazebo.launch
@@ -1,7 +1,12 @@
 <?xml version="1.0"?>
 <launch>
 <?xml version="1.0"?>
 <launch>

+       <arg name="use_imu" default="true"/>
+
+       <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
+

        <!-- Load joint controller configurations from YAML file to parameter server -->
        <rosparam file="$(find wild_thumper)/config/control.yaml" command="load" />
        <!-- Load joint controller configurations from YAML file to parameter server -->
        <rosparam file="$(find wild_thumper)/config/control.yaml" command="load" />

+       <rosparam param="/diff_drive_controller/enable_odom_tf" unless="$(arg use_imu)">true</rosparam>

 
        <include file="$(find gazebo_ros)/launch/empty_world.launch" >
                <arg name="world_name" value="$(find wild_thumper)/worlds/test.world" />
 
        <include file="$(find gazebo_ros)/launch/empty_world.launch" >
                <arg name="world_name" value="$(find wild_thumper)/worlds/test.world" />


@@ -18,20 +23,20 @@
        <!-- load the controllers -->
        <node name="controller_spawner" pkg="controller_manager" type="spawner" output="screen" ns="/" args="joint_state_controller diff_drive_controller"/>
 
        <!-- load the controllers -->
        <node name="controller_spawner" pkg="controller_manager" type="spawner" output="screen" ns="/" args="joint_state_controller diff_drive_controller"/>
 

-       <node name="relay_cmd_vel" pkg="topic_tools" type="relay" output="screen" args="/cmd_vel /diff_drive_controller/cmd_vel" />
+       <node name="relay_cmd_vel" pkg="topic_tools" type="relay" output="screen" args="/cmd_vel_out /diff_drive_controller/cmd_vel" />

        <node name="relay_odom" pkg="topic_tools" type="relay" output="screen" args="/diff_drive_controller/odom /odom" />
 
        <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
                <remap from="/image" to="/camera/depth/image_raw"/>
         </node>
 
        <node name="relay_odom" pkg="topic_tools" type="relay" output="screen" args="/diff_drive_controller/odom /odom" />
 
        <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
                <remap from="/image" to="/camera/depth/image_raw"/>
         </node>
 

-       <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen">
-               <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>
        </node>

+
+       <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
+               <arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
+               <arg name="nodelet_manager_name" value="nodelet_manager" />
+       </include>

 </launch>
 </launch>