added imu to analyzers

[ros_wild_thumper.git] / wild_thumper.launch

diff --git a/wild_thumper.launch b/wild_thumper.launch
index 2a3bb4aac3757e88ac73945feb48d8824bc1053c..af52d92398c89b01acabb4d240e8c3d2b0a82bfd 100644 (file)
--- a/wild_thumper.launch
+++ b/wild_thumper.launch
@@ -3,4 +3,12 @@
        <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro" />
 
        <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+       <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >
+               <rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml" />
+       </node>
+
+       <node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen">
+               <rosparam file="$(find wild_thumper)/cfg/razor.yaml" command="load"/>
+       </node>
 </launch>