X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=8736accd05f2bfaf10f07a31fb29c7fb71429f1e;hp=5d90cadac9689396c2f0809f58fbf4bb77239e1a;hb=2211b9a871c413ff7e704ca4600dc38fb65369ec;hpb=2d9ab7d6996ef2d96507642099f5250f47256704

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 5d90cad..8736acc 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -24,25 +24,13 @@
 		<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>
-
 	<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 pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true" output="screen">
+		<rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
+		<remap from="odometry/filtered" to="odom_combined"/>
 	</node>
 </launch>