X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=a1abfafe009aad3d99ed5889f5ad9cbb39267ed4;hp=1d304d83fa92c5b29eafa7b27e2848e3eb3c0b29;hb=c29777d09b3e8460510d2ec8d8c3916eea3468c1;hpb=f9cd8e0e872fdc7157c322d15dab71b0290d7633

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 1d304d8..a1abfaf 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -22,7 +22,7 @@
 		<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>
 
@@ -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 +52,9 @@
 		<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"/>
 </launch>