- <node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen">
- <rosparam file="$(find wild_thumper)/cfg/razor.yaml" command="load"/>
+ <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="true">
+ <param name="enable_odom_tf" value="true" unless="$(arg use_imu)" />
+ <param name="enable_odom_tf" value="false" if="$(arg use_imu)" />