Replace Razor IMU with Tinkerforge IMU Brick v2

[ros_wild_thumper.git] / launch / wild_thumper.launch

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 4b618abc657bf520303627a7bed05c535416138b..7fd4e59574d8eb26b79449446aad9b3d7c8e6a80 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -15,14 +15,12 @@
                <rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
        </node>
 
                <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="true" required="false">
+       <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="false">

                <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="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="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen"/>

 
        <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"/>