- <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >
- <rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml" />
+ <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
+
+ <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
+ <param name="publish_frequency" value="20.0" />
+ </node>
+ <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen"/>
+
+ <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
+ <rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
+ </node>
+
+ <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)/config/razor.yaml" command="load"/>