X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=13b8f130b82382e3e6efa1719ba597fbee90d3e4;hp=05295776e3535c134cf41dd36d67e0048b8b9214;hb=6ee1741e4ff83522b2cbd9860ad4ff4d00b42216;hpb=2ee98f31c1f2527cdb4e190e37d9f6ad9e246859

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 0529577..13b8f13 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -15,7 +15,7 @@
 		<rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml"/>
 	</node>
 
-	<node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="true">
+	<node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="true">
 		<param name="enable_odom_tf" value="true" unless="$(arg use_imu)"/>
 		<param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
 	</node>
@@ -36,11 +36,11 @@
 
 	<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="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="false"/>
-		<param name="gps_used" value="true"/>
+		<param name="vo_used" value="true"/>
 		<param name="debug" value="false"/>
 		<param name="sensor_timeout" value="2.0"/>
 	</node>