Set sonar angle to 5° degree
[ros_wild_thumper.git] / launch / wild_thumper.launch
index 0529577..a3f39f9 100644 (file)
        <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="true">
+       <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="true">
                <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"/>
+       <node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen">
+               <param name="uid" value="6DdNSn"/>
        </node>
 
        <node pkg="gpsd_client" type="gpsd_client"  name="gpsd_client" output="screen">
                <param name="use_gps_time" value="false"/>
        </node>
 
-       <node pkg="gps_common" type="utm_odometry_node" name="gps_conv" output="screen">
-               <remap from="odom" to="gps"/>
-               <param name="frame_id" value="odom"/>
-               <param name="child_frame_id" value="base_footprint"/>
-       </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_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
                <remap from="imu_data" to="imu"/>
+               <remap from="vo" to="gps"/>
                <remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
                <param name="output_frame" value="odom"/>
                <param name="freq" value="20.0"/>
                <param name="vo_used" value="false"/>
-               <param name="gps_used" value="true"/>
                <param name="debug" value="false"/>
                <param name="sensor_timeout" value="2.0"/>
        </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="nodelet_manager_name" value="nodelet_manager" />
-       </include>
+       <node pkg="gps_common" type="utm_odometry_node" name="gps_conv" output="screen">
+               <remap from="odom" to="gps"/>
+               <param name="frame_id" value="odom"/>
+               <param name="child_frame_id" value="base_footprint"/>
+       </node>
+       -->
+
+       <include file="$(find wild_thumper)/launch/robot_localization.launch" if="$(arg use_imu)"/>
+       <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node">
+               <param name="magnetic_declination_radians" value="0.48"/>
+               <param name="yaw_offset" value="1.5708"/>
+               <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>
 </launch>