X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=5d90cadac9689396c2f0809f58fbf4bb77239e1a;hp=9f2c28769b1640e084175144c0e7357e6db2f1b0;hb=be32db6e215b3db0f6776dcfd579a7c93c5caf0a;hpb=a86878ebaa2e27f8ff0cf9d2a313788d3a6bb21c

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 9f2c287..5d90cad 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -15,7 +15,7 @@
 		<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>
@@ -33,27 +33,9 @@
 		<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="$(arg use_imu)">
-		<remap from="imu_data" to="imu"/>
-		<remap from="vo" to="gps"/>
-		<remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
-		<param name="output_frame" value="odom"/>
-		<param name="freq" value="20.0"/>
-		<param name="vo_used" value="false"/>
-		<param name="debug" value="false"/>
-		<param name="sensor_timeout" value="2.0"/>
-	</node>
-
-	<node pkg="gps_common" type="utm_odometry_node" name="gps_conv" output="screen">
-		<remap from="odom" to="gps"/>
-		<param name="frame_id" value="odom"/>
-		<param name="child_frame_id" value="base_footprint"/>
-	</node>
-
-	<!--
 	<include file="$(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"/>
+	<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"/>
@@ -63,5 +45,4 @@
 		<remap from="/odometry/filtered" to="odom_combined"/>
 		<remap from="/odometry/gps" to="gps"/>
 	</node>
-	-->
 </launch>