revert www changes from last commit

[ros_wild_thumper.git] / launch / wild_thumper.launch

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 7c9eece0a416734d801eed7af272a39bbbc163cb..c721dcc1d028fba792abba1970e417e5727eee35 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -6,24 +6,37 @@
 
        <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 $(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"/>
+       <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen">
+               <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>
 
-       <node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen" if="$(arg use_imu)">
+       <node pkg="tinkerforge_imu_ros" type="tinkerforge_imu_ros" name="tinkerforge_imu_brick2" output="screen" respawn="true" if="$(arg use_imu)">
                <param name="uid" value="6DdNSn"/>
+               <param name="frame_id" value="base_imu_link"/>
+               <param name="period_ms" value="20"/>
+               <!-- Observed orientation variance: 0.0 (10k samples)
+                    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>
 
        <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
@@ -31,7 +44,7 @@
                <arg name="nodelet_manager_name" value="nodelet_manager" />
        </include>
 
-       <node pkg="robot_localization" type="ekf_localization_node" name="ekf" clear_params="true" output="screen">
+       <node pkg="robot_localization" type="ekf_localization_node" name="ekf" clear_params="true" output="screen" if="$(arg use_imu)">
                <rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
                <remap from="odometry/filtered" to="odom_combined"/>
        </node>
@@ -46,10 +59,29 @@
                <param name="yaw_offset" value="0.0"/>
                <param name="zero_altitude" value="true"/>
                <param name="broadcast_utm_transform" value="true"/>
+               <param name="transform_timeout" value="0.2"/>
 
                <remap from="/imu/data" to="imu"/>
                <remap from="/gps/fix" to="fix" />
                <remap from="/odometry/filtered" to="odom_combined"/>
                <remap from="/odometry/gps" to="gps"/>
        </node>
+
+       <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/>
+
+       <node pkg="wild_thumper" type="sensor_board.py" name="sensor_board" output="screen"/>
+       <node pkg="wild_thumper" type="ledstripe.rb" name="led_stripe" output="screen"/>
+
+       <node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
+               <param name="serial_port"         type="string" value="/dev/rplidar"/>
+               <param name="serial_baudrate"     type="int"    value="115200"/><!--A1/A2 -->
+               <param name="frame_id"            type="string" value="lidar"/>
+               <param name="angle_compensate"    type="bool"   value="true"/>
+               <param name="scan_mode"           type="string" value="Standard"/>
+               <!--
+               A2 scan_modes:
+               Standard: max_distance: 16.0 m, Point number: 2.0K
+               Express: max_distance: 16.0 m, Point number: 4.0K
+                -->
+       </node>
 </launch>