<?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" />
<remap from="/image" to="/camera/depth/image_raw"/>
</node>
- <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen">
+ <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"/>