X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=8736accd05f2bfaf10f07a31fb29c7fb71429f1e;hp=b0aa2ea0dd1cbadfe1856d4c552a545d82310053;hb=9d3dd45801f2041d41f4325debebc3ccf4e3d0c2;hpb=cacb82ac8403db8d5eae119c12faf751ebbe0e71

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index b0aa2ea..8736acc 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -1,30 +1,36 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="use_imu" default="true" />
+	<arg name="use_imu" default="true"/>
 
-	<param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro" />
+	<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
 
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+	<param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
 
-	<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >
-		<rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml" />
+	<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
+		<param name="publish_frequency" value="20.0" />
 	</node>
+	<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen"/>
 
-	<node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="true">
-		<param name="enable_odom_tf" value="true" unless="$(arg use_imu)" />
-		<param name="enable_odom_tf" value="false" if="$(arg use_imu)" />
+	<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
+		<rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
 	</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 pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="true">
+		<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="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
-		<remap from="imu_data" to="imu"/>
-		<remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
-		<param name="output_frame" value="odom"/>
-		<param name="freq" value="20.0"/>
-		<param name="vo_used" value="false"/>
-		<param name="debug" value="true"/>
+	<node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen">
+		<param name="uid" value="6DdNSn"/>
+	</node>
+
+	<include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
+		<arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
+		<arg name="nodelet_manager_name" value="nodelet_manager" />
+	</include>
+
+	<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true" output="screen">
+		<rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
+		<remap from="odometry/filtered" to="odom_combined"/>
 	</node>
 </launch>