added robot_pose_ekf

[ros_wild_thumper.git] / launch / wild_thumper.launch

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 42682bff45fc47ccc4804c6f989f031d1a4d0e4a..cc2db13288403c4ff10ddad91d71f42e89644983 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -13,4 +13,12 @@
        </node>
 
        <node pkg="wild_thumper" type="move_base.py" name="move_base" output="screen" respawn="true" />
+
+       <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen">
+               <remap from="imu_data" to="imu"/>
+               <param name="output_frame" value="odom"/>
+               <param name="freq" value="20.0"/>
+               <param name="vo_used" value="false"/>
+               <param name="debug" value="true"/>
+       </node>
 </launch>