X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=927f41ec4613b306fa8bbb08e259b2d06055ed68;hp=5d90cadac9689396c2f0809f58fbf4bb77239e1a;hb=b7f9609e60bd234f15b253901eaa1c3e462cc5b1;hpb=be32db6e215b3db0f6776dcfd579a7c93c5caf0a

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 5d90cad..927f41e 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -1,5 +1,7 @@
 <?xml version="1.0"?>
 <launch>
+	<env name="ROSCONSOLE_CONFIG_FILE" value="$(find wild_thumper)/config/rosconsole.config"/>
+
 	<arg name="use_imu" default="true"/>
 
 	<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
@@ -20,23 +22,28 @@
 		<param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
 	</node>
 
-	<node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen">
+	<node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen" if="$(arg use_imu)">
 		<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="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>
+
+	<node pkg="gpsd_client" type="gpsd_client"  name="gpsd_client" output="screen">
+		<param name="use_gps_time" value="false"/>
+		<param name="frame_id" value="base_footprint"/>
+	</node>
+
 	<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="yaw_offset" value="0.0"/>
 		<param name="zero_altitude" value="true"/>
 		<param name="broadcast_utm_transform" value="true"/>
 
@@ -45,4 +52,6 @@
 		<remap from="/odometry/filtered" to="odom_combined"/>
 		<remap from="/odometry/gps" to="gps"/>
 	</node>
+
+	<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/>
 </launch>