X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=834a5881c80f59bce59aff9befcfd9c5027a0c7e;hp=7c9eece0a416734d801eed7af272a39bbbc163cb;hb=8f08ba32c7c05b60e532a85264e648147227b8bb;hpb=3f3329b34715a239358868351317d27ea17bd423

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 7c9eece..834a588 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>
@@ -52,4 +52,22 @@
 		<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>