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 e6b426cb88290f11831b36b40b8f35257b80f7a3..c721dcc1d028fba792abba1970e417e5727eee35 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -7,28 +7,36 @@
        <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>
 
-       <node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen" respawn="true" 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">