added umbmark.py, tested with simulation
[ros_wild_thumper.git] / launch / gazebo.launch
index b93b250452b10b7eba29fede1a502f1ddc2c4f4a..da5f559469bc5dc51e0885ac6d03c1d5cc312b29 100644 (file)
@@ -1,7 +1,10 @@
 <?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" />
@@ -25,7 +28,7 @@
                <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"/>