convert base node to c++

[ros_wild_thumper.git] / launch / wild_thumper.launch

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 1e1bf66e2f9bd046783695201f89c87eda7c61b8..c721dcc1d028fba792abba1970e417e5727eee35 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -7,22 +7,22 @@
        <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>
@@ -35,6 +35,7 @@
                     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>