<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" value="20.0" />
</node>
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen">
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" value="20.0" />
</node>
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen">
</node>
<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
<rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
</node>
</node>
<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
<rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
</node>
<param name="enable_odom_tf" value="true" unless="$(arg use_imu)"/>
<param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
</node>
<param name="enable_odom_tf" value="true" unless="$(arg use_imu)"/>
<param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
</node>
Magnometer heading accuracy is +-2.5 deg => 0.088 rad
With heading accuracy as std dev, variance = 0.088^2 = 0.008 -->
<param name="variance_orientation" value="0.008"/>
Magnometer heading accuracy is +-2.5 deg => 0.088 rad
With heading accuracy as std dev, variance = 0.088^2 = 0.008 -->
<param name="variance_orientation" value="0.008"/>