<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">
<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">
<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>
<node pkg="gpsd_client" type="gpsd_client" name="gpsd_client" output="screen">
<param name="use_gps_time" value="false"/>
<node pkg="gpsd_client" type="gpsd_client" name="gpsd_client" output="screen">
<param name="use_gps_time" value="false"/>
<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
<remap from="imu_data" to="imu"/>
<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
<remap from="imu_data" to="imu"/>
<remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
<param name="output_frame" value="odom"/>
<param name="freq" value="20.0"/>
<remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
<param name="output_frame" value="odom"/>
<param name="freq" value="20.0"/>
<param name="debug" value="false"/>
<param name="sensor_timeout" value="2.0"/>
</node>
<include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
<param name="debug" value="false"/>
<param name="sensor_timeout" value="2.0"/>
</node>
<include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">