<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen"/>
<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
- <rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml"/>
+ <rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
</node>
- <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false">
+ <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="false">
<param name="enable_odom_tf" value="true" unless="$(arg use_imu)"/>
<param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
</node>
<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"/>
+ <rosparam file="$(find wild_thumper)/config/razor.yaml" command="load"/>
</node>
<node pkg="gpsd_client" type="gpsd_client" name="gpsd_client" output="screen">
</node>
<include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
- <arg name="config_file" value="$(find wild_thumper)/cfg/cmd_vel_mux.yaml" />
+ <arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
<arg name="nodelet_manager_name" value="nodelet_manager" />
</include>
</launch>