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[ros_wild_thumper.git] / launch / wild_thumper.launch

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 7c9eece0a416734d801eed7af272a39bbbc163cb..927f41ec4613b306fa8bbb08e259b2d06055ed68 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -31,7 +31,7 @@
                <arg name="nodelet_manager_name" value="nodelet_manager" />
        </include>
 
-       <node pkg="robot_localization" type="ekf_localization_node" name="ekf" clear_params="true" output="screen">
+       <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>
@@ -52,4 +52,6 @@
                <remap from="/odometry/filtered" to="odom_combined"/>
                <remap from="/odometry/gps" to="gps"/>
        </node>
+
+       <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/>
 </launch>