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 567d95a3d1bcb9784c24bcf4aadeef89c6bda0fb..7fd4e59574d8eb26b79449446aad9b3d7c8e6a80 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -12,17 +12,15 @@
        <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">
-               <rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml"/>
+               <rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
        </node>
 
-       <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="true">
+       <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>
 
-       <node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen" if="$(arg use_imu)">
-               <rosparam file="$(find wild_thumper)/cfg/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"/>
@@ -41,13 +39,12 @@
                <param name="output_frame" value="odom"/>
                <param name="freq" value="20.0"/>
                <param name="vo_used" value="true"/>
-               <param name="debug" value="true"/>
+               <param name="debug" value="false"/>
                <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="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
                <arg name="nodelet_manager_name" value="nodelet_manager" />
        </include>
 </launch>