- <node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen" if="$(arg use_imu)">
- <rosparam file="$(find wild_thumper)/config/razor.yaml" command="load"/>
+ <node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen" if="$(arg use_imu)">
+ <param name="uid" value="6DdNSn"/>
+ </node>
+
+ <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
+ <arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
+ <arg name="nodelet_manager_name" value="nodelet_manager" />
+ </include>
+
+ <node pkg="robot_localization" type="ekf_localization_node" name="ekf" clear_params="true" output="screen" if="$(arg use_imu)">
+ <rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
+ <remap from="odometry/filtered" to="odom_combined"/>