Set sonar angle to 5° degree
[ros_wild_thumper.git] / launch / wild_thumper.launch
index 9f2c287..a3f39f9 100644 (file)
@@ -15,7 +15,7 @@
                <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">
+       <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>
@@ -33,6 +33,7 @@
                <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"/>
@@ -49,8 +50,8 @@
                <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"/>
@@ -63,5 +64,4 @@
                <remap from="/odometry/filtered" to="odom_combined"/>
                <remap from="/odometry/gps" to="gps"/>
        </node>
-       -->
 </launch>