- <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 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="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>
+
+ <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"/>