<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
<!--
- <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
+ <param name="robot_description" command="$(find xacro)/xacro $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
-->
- <param name="robot_description" command="$(find xacro)/xacro.py $(find wt_open_manipulator)/urdf/wild_thumper_with_manipulator.urdf.xacro use_nominal_extrinsics:=false"/>
+ <param name="robot_description" command="$(find xacro)/xacro $(find wt_open_manipulator)/urdf/wild_thumper_with_manipulator.urdf.xacro use_nominal_extrinsics:=false"/>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" value="20.0" />
</node>
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen">
- <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro" />
+ <param name="robot_description" command="$(find xacro)/xacro $(find wild_thumper)/urdf/wild_thumper.urdf.xacro" />
</node>
<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
<rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
</node>
- <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="true">
+ <node pkg="wild_thumper" type="wt_node" 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>
Magnometer heading accuracy is +-2.5 deg => 0.088 rad
With heading accuracy as std dev, variance = 0.088^2 = 0.008 -->
<param name="variance_orientation" value="0.008"/>
+ <param name="disable_leds" value="true"/>
<remap from="/tinkerforge_imu_brick2/imu" to="imu"/>
</node>