<?xml version="1.0"?>
<launch>
+ <env name="ROSCONSOLE_CONFIG_FILE" value="$(find wild_thumper)/config/rosconsole.config"/>
+
<arg name="use_imu" default="true"/>
<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
- <param name="robot_description" command="$(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="false">
+ <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">
+ <node pkg="tinkerforge_imu_ros" type="tinkerforge_imu_ros" name="tinkerforge_imu_brick2" output="screen" respawn="true" if="$(arg use_imu)">
<param name="uid" value="6DdNSn"/>
- </node>
-
- <node pkg="gpsd_client" type="gpsd_client" name="gpsd_client" output="screen">
- <param name="use_gps_time" value="false"/>
+ <param name="frame_id" value="base_imu_link"/>
+ <param name="period_ms" value="20"/>
+ <!-- Observed orientation variance: 0.0 (10k samples)
+ Magnometer heading accuracy is +-2.5 deg => 0.088 rad
+ With heading accuracy as std dev, variance = 0.088^2 = 0.008 -->
+ <param name="variance_orientation" value="0.008"/>
+ <param name="disable_leds" value="true"/>
+ <remap from="/tinkerforge_imu_brick2/imu" to="imu"/>
</node>
<include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
<arg name="nodelet_manager_name" value="nodelet_manager" />
</include>
- <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
- <remap from="imu_data" to="imu"/>
- <remap from="vo" to="gps"/>
- <remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
- <param name="output_frame" value="odom"/>
- <param name="freq" value="20.0"/>
- <param name="vo_used" value="false"/>
- <param name="debug" value="false"/>
- <param name="sensor_timeout" value="2.0"/>
+ <node pkg="robot_localization" type="ekf_localization_node" name="ekf" clear_params="true" output="screen" if="$(arg use_imu)">
+ <rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
+ <remap from="odometry/filtered" to="odom_combined"/>
</node>
- <node pkg="gps_common" type="utm_odometry_node" name="gps_conv" output="screen">
- <remap from="odom" to="gps"/>
- <param name="frame_id" value="odom"/>
- <param name="child_frame_id" value="base_footprint"/>
+ <node pkg="gpsd_client" type="gpsd_client" name="gpsd_client" output="screen">
+ <param name="use_gps_time" value="false"/>
+ <param name="frame_id" value="base_footprint"/>
</node>
- <!--
- <include file="$(find wild_thumper)/launch/robot_localization.launch" if="$(arg use_imu)"/>
- <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node">
- <param name="magnetic_declination_radians" value="0.48"/>
- <param name="yaw_offset" value="1.5708"/>
+ <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" output="screen">
+ <param name="magnetic_declination_radians" value="0.047"/>
+ <param name="yaw_offset" value="0.0"/>
<param name="zero_altitude" value="true"/>
<param name="broadcast_utm_transform" value="true"/>
+ <param name="transform_timeout" value="0.2"/>
<remap from="/imu/data" to="imu"/>
<remap from="/gps/fix" to="fix" />
<remap from="/odometry/filtered" to="odom_combined"/>
<remap from="/odometry/gps" to="gps"/>
</node>
- -->
+
+ <include file="$(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>
projects / ros_wild_thumper.git / blobdiff