X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;fp=launch%2Fwild_thumper.launch;h=1d304d83fa92c5b29eafa7b27e2848e3eb3c0b29;hp=8736accd05f2bfaf10f07a31fb29c7fb71429f1e;hb=f9cd8e0e872fdc7157c322d15dab71b0290d7633;hpb=9d3dd45801f2041d41f4325debebc3ccf4e3d0c2

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 8736acc..1d304d8 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -1,5 +1,7 @@
 <?xml version="1.0"?>
 <launch>
+	<env name="ROSCONSOLE_CONFIG_FILE" value="$(find wild_thumper)/config/rosconsole.config"/>
+
 	<arg name="use_imu" default="true"/>
 
 	<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
@@ -29,8 +31,25 @@
 		<arg name="nodelet_manager_name" value="nodelet_manager" />
 	</include>
 
-	<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true" output="screen">
+	<node pkg="robot_localization" type="ekf_localization_node" name="ekf" clear_params="true" output="screen">
 		<rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
 		<remap from="odometry/filtered" to="odom_combined"/>
 	</node>
+
+	<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="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>
 </launch>