3dsensor: use rosparam to set depth mode

[ros_wild_thumper.git] / launch / wild_thumper.launch

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 567d95a3d1bcb9784c24bcf4aadeef89c6bda0fb..c2a5d0128744fe93858fdfa7ea2350b1f00a003f 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -15,7 +15,7 @@
                <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>
@@ -41,10 +41,9 @@
                <param name="output_frame" value="odom"/>
                <param name="freq" value="20.0"/>
                <param name="vo_used" value="true"/>
-               <param name="debug" value="true"/>
+               <param name="debug" value="false"/>
                <param name="sensor_timeout" value="2.0"/>
        </node>
-       <!-- <include file="$(find wild_thumper)/launch/robot_localization.launch" if="$(arg use_imu)"/> -->
 
        <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" />