+ <node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen" if="$(arg use_imu)">
+ <rosparam file="$(find wild_thumper)/config/razor.yaml" command="load"/>
+ </node>
+
+ <node pkg="gpsd_client" type="gpsd_client" name="gpsd_client" output="screen">
+ <param name="use_gps_time" value="false"/>
+ </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>
+
+ <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">