<rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
</node>
- <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="false">
+ <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="true">
<param name="enable_odom_tf" value="true" unless="$(arg use_imu)"/>
<param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
</node>
<arg name="nodelet_manager_name" value="nodelet_manager" />
</include>
+ <!--
<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
<remap from="imu_data" to="imu"/>
<remap from="vo" to="gps"/>
<param name="frame_id" value="odom"/>
<param name="child_frame_id" value="base_footprint"/>
</node>
+ -->
- <!--
<include file="$(find wild_thumper)/launch/robot_localization.launch" if="$(arg use_imu)"/>
<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node">
<param name="magnetic_declination_radians" value="0.48"/>
<remap from="/odometry/filtered" to="odom_combined"/>
<remap from="/odometry/gps" to="gps"/>
</node>
- -->
</launch>