<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"/>
- <remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
- <param name="output_frame" value="odom"/>
- <param name="freq" value="20.0"/>
- <param name="vo_used" value="false"/>
- <param name="debug" value="false"/>
- <param name="sensor_timeout" value="2.0"/>
- </node>
-
- <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>
-
- <!--
<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"/>
+ <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" output="screen">
+ <param name="magnetic_declination_radians" value="0.047"/>
<param name="yaw_offset" value="1.5708"/>
<param name="zero_altitude" value="true"/>
<param name="broadcast_utm_transform" value="true"/>
<remap from="/odometry/filtered" to="odom_combined"/>
<remap from="/odometry/gps" to="gps"/>
</node>
- -->
</launch>