+
+ <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" clear_params="true" output="screen" if="$(arg use_imu)">
+ <rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
+ <remap from="odometry/filtered" to="odom_combined"/>
+ </node>
+
+ <node pkg="gpsd_client" type="gpsd_client" name="gpsd_client" output="screen">
+ <param name="use_gps_time" value="false"/>
+ <param name="frame_id" value="base_footprint"/>
+ </node>
+
+ <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" output="screen">
+ <param name="magnetic_declination_radians" value="0.047"/>
+ <param name="yaw_offset" value="0.0"/>
+ <param name="zero_altitude" value="true"/>
+ <param name="broadcast_utm_transform" value="true"/>
+
+ <remap from="/imu/data" to="imu"/>
+ <remap from="/gps/fix" to="fix" />
+ <remap from="/odometry/filtered" to="odom_combined"/>
+ <remap from="/odometry/gps" to="gps"/>
+ </node>
+
+ <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/>
+
+ <node pkg="wild_thumper" type="sensor_board.py" name="sensor_board" output="screen"/>