configuration with manipulator

[ros_wild_thumper.git] / launch / wild_thumper.launch

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index cc2db13288403c4ff10ddad91d71f42e89644983..ec21d0b80b5ff615e116e5294f2851c7ee8ca1d2 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -1,24 +1,78 @@
 <?xml version="1.0"?>
 <launch>
-       <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro" />
+       <env name="ROSCONSOLE_CONFIG_FILE" value="$(find wild_thumper)/config/rosconsole.config"/>
 
-       <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+       <arg name="use_imu" default="true"/>
 
-       <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >
-               <rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml" />
+       <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
+
+       <!--
+       <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
+       -->
+       <param name="robot_description" command="$(find xacro)/xacro.py $(find wt_open_manipulator)/urdf/wild_thumper_with_manipulator.urdf.xacro use_nominal_extrinsics:=false"/>
+
+       <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
+               <param name="publish_frequency" value="20.0" />
+       </node>
+       <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen">
+               <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro" />
+       </node>
+
+       <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
+               <rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
+       </node>
+
+       <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="true">
+               <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="$(arg use_imu)">
+               <param name="uid" value="6DdNSn"/>
+       </node>
+
+       <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
+               <arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
+               <arg name="nodelet_manager_name" value="nodelet_manager" />
+       </include>
+
+       <node pkg="robot_localization" type="ekf_localization_node" name="ekf" clear_params="true" output="screen" if="$(arg use_imu)">
+               <rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
+               <remap from="odometry/filtered" to="odom_combined"/>
        </node>
 
-       <node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen">
-               <rosparam file="$(find wild_thumper)/cfg/razor.yaml" command="load"/>
+       <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>
 
-       <node pkg="wild_thumper" type="move_base.py" name="move_base" output="screen" respawn="true" />
+       <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"/>
+
+               <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 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 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>