<rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml" />
</node>
+ <node pkg="wild_thumper" type="move_base.py" name="move_base" output="screen" respawn="true">
+ <param name="enable_odom_tf" value="false" />
+ </node>
+
<node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen">
<rosparam file="$(find wild_thumper)/cfg/razor.yaml" command="load"/>
</node>
- <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>