-navigation stack fixes

[ros_wild_thumper.git] / launch / wild_thumper.launch

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 869f51f19ae04e9ba1a59df53fba3570bf481763..567d95a3d1bcb9784c24bcf4aadeef89c6bda0fb 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -2,9 +2,13 @@
 <launch>
        <arg name="use_imu" default="true"/>
 
+       <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
+
        <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
 
-       <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_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 pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
@@ -24,14 +28,15 @@
                <param name="use_gps_time" value="false"/>
        </node>
 
-       <node pkg="gps_common" type="utm_odometry_node" name="gps_conv">
-               <remap from="odom" to="odom_gps"/>
-               <param name="frame_id" value="base_footprint"/>
+       <node pkg="gps_common" type="utm_odometry_node" name="gps_conv" output="screen">
+               <remap from="odom" to="gps"/>
+               <param name="frame_id" value="odom"/>
+               <param name="child_frame_id" value="base_footprint"/>
        </node>
 
        <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
                <remap from="imu_data" to="imu"/>
-               <remap from="vo" to="odom_gps"/>
+               <remap from="vo" to="gps"/>
                <remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
                <param name="output_frame" value="odom"/>
                <param name="freq" value="20.0"/>
@@ -39,4 +44,10 @@
                <param name="debug" value="true"/>
                <param name="sensor_timeout" value="2.0"/>
        </node>
+       <!-- <include file="$(find wild_thumper)/launch/robot_localization.launch" if="$(arg use_imu)"/> -->
+
+       <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
+               <arg name="config_file" value="$(find wild_thumper)/cfg/cmd_vel_mux.yaml" />
+               <arg name="nodelet_manager_name" value="nodelet_manager" />
+       </include>
 </launch>