- <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
- <remap from="imu_data" to="imu"/>
- <remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
- <param name="output_frame" value="odom"/>
- <param name="freq" value="20.0"/>
- <param name="vo_used" value="false"/>
- <param name="debug" value="true"/>
+ <node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen">
+ <param name="uid" value="6DdNSn"/>
+ </node>
+
+ <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
+ <arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
+ <arg name="nodelet_manager_name" value="nodelet_manager" />
+ </include>
+
+ <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true" output="screen">
+ <rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
+ <remap from="odometry/filtered" to="odom_combined"/>