odometry tuning

[ros_wild_thumper.git] / launch / wild_thumper.launch

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 42682bff45fc47ccc4804c6f989f031d1a4d0e4a..fbd17ec6eac99f9e0b229cc08ef2b0ea5bb73692 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -8,9 +8,19 @@
                <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>