X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=7fd4e59574d8eb26b79449446aad9b3d7c8e6a80;hp=05295776e3535c134cf41dd36d67e0048b8b9214;hb=f69047e2f52a6e05b95f13c2d0aa55d53de98e4d;hpb=2ee98f31c1f2527cdb4e190e37d9f6ad9e246859

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 0529577..7fd4e59 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -12,17 +12,15 @@
 	<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen"/>
 
 	<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
-		<rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml"/>
+		<rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
 	</node>
 
-	<node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="true">
+	<node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="false">
 		<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="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen" if="$(arg use_imu)">
-		<rosparam file="$(find wild_thumper)/cfg/razor.yaml" command="load"/>
-	</node>
+	<node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen"/>
 
 	<node pkg="gpsd_client" type="gpsd_client"  name="gpsd_client" output="screen">
 		<param name="use_gps_time" value="false"/>
@@ -36,17 +34,17 @@
 
 	<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>
 
 	<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" />
+		<arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
 		<arg name="nodelet_manager_name" value="nodelet_manager" />
 	</include>
 </launch>