X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=8736accd05f2bfaf10f07a31fb29c7fb71429f1e;hp=a3f39f957fbb569c4c43cd44e81cbc34681037cf;hb=d14cfe50a46c4225db4ff6b05de6954bf30de259;hpb=b301eb19e6487497a8bb946c538a25aa4ee28c1d

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index a3f39f9..8736acc 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -24,44 +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>
 
-	<!--
-	<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="$(arg use_imu)"/>
-	<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node">
-		<param name="magnetic_declination_radians" value="0.48"/>
-		<param name="yaw_offset" value="1.5708"/>
-		<param name="zero_altitude" value="true"/>
-		<param name="broadcast_utm_transform" value="true"/>
-
-		<remap from="/imu/data" to="imu"/>
-		<remap from="/gps/fix" to="fix" />
-		<remap from="/odometry/filtered" to="odom_combined"/>
-		<remap from="/odometry/gps" to="gps"/>
+	<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true" output="screen">
+		<rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
+		<remap from="odometry/filtered" to="odom_combined"/>
 	</node>
 </launch>