X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=13b8f130b82382e3e6efa1719ba597fbee90d3e4;hp=567d95a3d1bcb9784c24bcf4aadeef89c6bda0fb;hb=c1332ea44ce7d5135b9937777dbe35b2fc83584f;hpb=53c52f19f4cd243c9f5a66780ca365d54820761f

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 567d95a..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>
@@ -41,10 +41,9 @@
 		<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="debug" value="false"/>
 		<param name="sensor_timeout" value="2.0"/>
 	</node>
-	<!-- <include file="$(find wild_thumper)/launch/robot_localization.launch" if="$(arg use_imu)"/> -->
 
 	<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" />