added umbmark.py, tested with simulation
[ros_wild_thumper.git] / launch / gazebo.launch
index 219529a0e9e115ba42d5753fff2c09486329ada4..da5f559469bc5dc51e0885ac6d03c1d5cc312b29 100644 (file)
@@ -1,5 +1,11 @@
 <?xml version="1.0"?>
 <launch>
+       <arg name="use_imu" default="true"/>
+
+       <!-- 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" />
                <arg name="gui" value="false" />
        <!-- Spawn a robot into Gazebo -->
        <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model wild_thumper" output="screen" />
 
+       <!-- 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_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" 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>
 </launch>