- <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="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)">
- <remap from="imu_data" to="imu"/>
- <remap from="vo" to="gps"/>
- <remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
- <param name="output_frame" value="odom"/>
- <param name="freq" value="20.0"/>
- <param name="vo_used" value="true"/>
- <param name="debug" value="false"/>
- <param name="sensor_timeout" value="2.0"/>
+ <node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen">
+ <param name="uid" value="6DdNSn"/>