- <node pkg="wild_thumper" type="move_base.py" name="move_base" output="screen" respawn="true">
- <param name="enable_odom_tf" value="false" />
+ <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)" />