X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=05295776e3535c134cf41dd36d67e0048b8b9214;hp=869f51f19ae04e9ba1a59df53fba3570bf481763;hb=2ee98f31c1f2527cdb4e190e37d9f6ad9e246859;hpb=90c915738a5c052a4330840a8d50a2590a30ab7a

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 869f51f..0529577 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -2,9 +2,13 @@
 <launch>
 	<arg name="use_imu" default="true"/>
 
+	<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"/>
 
-	<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>
+	<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"/>
 
 	<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
@@ -24,19 +28,25 @@
 		<param name="use_gps_time" value="false"/>
 	</node>
 
-	<node pkg="gps_common" type="utm_odometry_node" name="gps_conv">
-		<remap from="odom" to="odom_gps"/>
-		<param name="frame_id" value="base_footprint"/>
+	<node pkg="gps_common" type="utm_odometry_node" name="gps_conv" output="screen">
+		<remap from="odom" to="gps"/>
+		<param name="frame_id" value="odom"/>
+		<param name="child_frame_id" value="base_footprint"/>
 	</node>
 
 	<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
 		<remap from="imu_data" to="imu"/>
-		<remap from="vo" to="odom_gps"/>
 		<remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
 		<param name="output_frame" value="odom"/>
 		<param name="freq" value="20.0"/>
-		<param name="vo_used" value="true"/>
-		<param name="debug" value="true"/>
+		<param name="vo_used" value="false"/>
+		<param name="gps_used" value="true"/>
+		<param name="debug" value="false"/>
 		<param name="sensor_timeout" value="2.0"/>
 	</node>
+
+	<include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
+		<arg name="config_file" value="$(find wild_thumper)/cfg/cmd_vel_mux.yaml" />
+		<arg name="nodelet_manager_name" value="nodelet_manager" />
+	</include>
 </launch>