X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=80dbf6fb14f65fb04167b239989d4b4964fa0f56;hp=7c9eece0a416734d801eed7af272a39bbbc163cb;hb=a8b34849df59d5e66dd4f071db15cac7b0e5bdea;hpb=48b64bbd9a5682f9ba6012dd753273315b0872b4

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 7c9eece..80dbf6f 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -31,7 +31,7 @@
 		<arg name="nodelet_manager_name" value="nodelet_manager" />
 	</include>
 
-	<node pkg="robot_localization" type="ekf_localization_node" name="ekf" clear_params="true" output="screen">
+	<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>