X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=1e1bf66e2f9bd046783695201f89c87eda7c61b8;hp=9f2c28769b1640e084175144c0e7357e6db2f1b0;hb=15e32d80e6d095cc1d5550dc340be241cf6badcc;hpb=a86878ebaa2e27f8ff0cf9d2a313788d3a6bb21c

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 9f2c287..1e1bf66 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -1,31 +1,41 @@
 <?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"/>
 
+	<!--
 	<param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
+	-->
+	<param name="robot_description" command="$(find xacro)/xacro.py $(find wt_open_manipulator)/urdf/wild_thumper_with_manipulator.urdf.xacro use_nominal_extrinsics:=false"/>
 
 	<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="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen">
+		<param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro" />
+	</node>
 
 	<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
 		<rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
 	</node>
 
-	<node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="false">
+	<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>
 
-	<node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen">
+	<node pkg="tinkerforge_imu_ros" type="tinkerforge_imu_ros" name="tinkerforge_imu_brick2" output="screen" respawn="true" if="$(arg use_imu)">
 		<param name="uid" value="6DdNSn"/>
-	</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_imu_link"/>
+		<param name="period_ms" value="20"/>
+		<!-- Observed orientation variance: 0.0 (10k samples)
+		     Magnometer heading accuracy is +-2.5 deg => 0.088 rad
+		     With heading accuracy as std dev, variance = 0.088^2 = 0.008 -->
+		<param name="variance_orientation" value="0.008"/>
+		<remap from="/tinkerforge_imu_brick2/imu" to="imu"/>
 	</node>
 
 	<include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
@@ -33,35 +43,44 @@
 		<arg name="nodelet_manager_name" value="nodelet_manager" />
 	</include>
 
-	<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
-		<remap from="imu_data" to="imu"/>
-		<remap from="vo" to="gps"/>
-		<remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
-		<param name="output_frame" value="odom"/>
-		<param name="freq" value="20.0"/>
-		<param name="vo_used" value="false"/>
-		<param name="debug" value="false"/>
-		<param name="sensor_timeout" value="2.0"/>
+	<node pkg="robot_localization" type="ekf_localization_node" name="ekf" clear_params="true" output="screen" if="$(arg use_imu)">
+		<rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
+		<remap from="odometry/filtered" to="odom_combined"/>
 	</node>
 
-	<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 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>
 
-	<!--
-	<include file="$(find wild_thumper)/launch/robot_localization.launch" if="$(arg use_imu)"/>
-	<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node">
-		<param name="magnetic_declination_radians" value="0.48"/>
-		<param name="yaw_offset" value="1.5708"/>
+	<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"/>
+		<param name="transform_timeout" value="0.2"/>
 
 		<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>
-	-->
+
+	<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/>
+
+	<node pkg="wild_thumper" type="sensor_board.py" name="sensor_board" output="screen"/>
+	<node pkg="wild_thumper" type="ledstripe.rb" name="led_stripe" output="screen"/>
+
+	<node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
+		<param name="serial_port"         type="string" value="/dev/rplidar"/>
+		<param name="serial_baudrate"     type="int"    value="115200"/><!--A1/A2 -->
+		<param name="frame_id"            type="string" value="lidar"/>
+		<param name="angle_compensate"    type="bool"   value="true"/>
+		<param name="scan_mode"		  type="string"	value="Standard"/>
+		<!--
+		A2 scan_modes:
+		Standard: max_distance: 16.0 m, Point number: 2.0K
+		Express: max_distance: 16.0 m, Point number: 4.0K
+		 -->
+	</node>
 </launch>