X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=5d90cadac9689396c2f0809f58fbf4bb77239e1a;hp=7fd4e59574d8eb26b79449446aad9b3d7c8e6a80;hb=2d9ab7d6996ef2d96507642099f5250f47256704;hpb=f69047e2f52a6e05b95f13c2d0aa55d53de98e4d

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 7fd4e59..5d90cad 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -15,36 +15,34 @@
 		<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="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen">
+		<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"/>
 	</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>
-
-	<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
-		<remap from="imu_data" to="imu"/>
-		<remap from="vo" to="gps"/>
-		<remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
-		<param name="output_frame" value="odom"/>
-		<param name="freq" value="20.0"/>
-		<param name="vo_used" value="true"/>
-		<param name="debug" value="false"/>
-		<param name="sensor_timeout" value="2.0"/>
-	</node>
-
 	<include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
 		<arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
 		<arg name="nodelet_manager_name" value="nodelet_manager" />
 	</include>
+
+	<include file="$(find wild_thumper)/launch/robot_localization.launch" if="$(arg use_imu)"/>
+	<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" output="screen">
+		<param name="magnetic_declination_radians" value="0.047"/>
+		<param name="yaw_offset" value="1.5708"/>
+		<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>