simulation/gazebo: added controller for imu, range sensors and diff

[ros_wild_thumper.git] / launch / wild_thumper.launch

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 42682bff45fc47ccc4804c6f989f031d1a4d0e4a..c7c88ef995a8a0adb5762b22c5930e4b84d9c05b 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -1,16 +1,41 @@
 <?xml version="1.0"?>
 <launch>
-       <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro" />
+       <arg name="use_imu" default="true"/>
 
-       <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+       <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
 
-       <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >
-               <rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml" />
+       <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>
+
+       <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
+               <rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml"/>
+       </node>
+
+       <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="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="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen">
+       <node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen" if="$(arg use_imu)">
                <rosparam file="$(find wild_thumper)/cfg/razor.yaml" command="load"/>
        </node>
 
-       <node pkg="wild_thumper" type="move_base.py" name="move_base" output="screen" respawn="true" />
+       <node pkg="gpsd_client" type="gpsd_client"  name="gpsd_client" output="screen">
+               <param name="use_gps_time" value="false"/>
+       </node>
+
+       <node pkg="gps_common" type="utm_odometry_node" name="gps_conv">
+               <remap from="odom" to="odom_gps"/>
+               <param name="frame_id" value="base_footprint"/>
+       </node>
+
+       <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="odom_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="true"/>
+               <param name="debug" value="true"/>
+               <param name="sensor_timeout" value="2.0"/>
+       </node>
 </launch>