<rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml"/>
</node>
- <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="true">
+ <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false">
<param name="enable_odom_tf" value="true" unless="$(arg use_imu)"/>
<param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
</node>
<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(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="vo_used" value="true"/>
<param name="debug" value="false"/>
<param name="sensor_timeout" value="2.0"/>
</node>