X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=a3f39f957fbb569c4c43cd44e81cbc34681037cf;hp=cc2db13288403c4ff10ddad91d71f42e89644983;hb=b301eb19e6487497a8bb946c538a25aa4ee28c1d;hpb=4958e800772cdb9f790ce42feb89ea87d4b268e7;ds=sidebyside

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index cc2db13..a3f39f9 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -1,24 +1,67 @@
 <?xml version="1.0"?>
 <launch>
-	<param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro" />
+	<arg name="use_imu" default="true"/>
 
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+	<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
 
-	<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >
-		<rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml" />
+	<param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
+
+	<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
+		<param name="publish_frequency" value="20.0" />
+	</node>
+	<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen"/>
+
+	<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
+		<rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
+	</node>
+
+	<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="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen">
+		<param name="uid" value="6DdNSn"/>
 	</node>
 
-	<node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen">
-		<rosparam file="$(find wild_thumper)/cfg/razor.yaml" command="load"/>
+	<node pkg="gpsd_client" type="gpsd_client"  name="gpsd_client" output="screen">
+		<param name="use_gps_time" value="false"/>
 	</node>
 
-	<node pkg="wild_thumper" type="move_base.py" name="move_base" output="screen" respawn="true" />
+	<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">
+	<!--
+	<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
 		<remap from="imu_data" to="imu"/>
+		<remap from="vo" to="gps"/>
+		<remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
 		<param name="output_frame" value="odom"/>
 		<param name="freq" value="20.0"/>
 		<param name="vo_used" value="false"/>
-		<param name="debug" value="true"/>
+		<param name="debug" value="false"/>
+		<param name="sensor_timeout" value="2.0"/>
+	</node>
+
+	<node pkg="gps_common" type="utm_odometry_node" name="gps_conv" output="screen">
+		<remap from="odom" to="gps"/>
+		<param name="frame_id" value="odom"/>
+		<param name="child_frame_id" value="base_footprint"/>
+	</node>
+	-->
+
+	<include file="$(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>
 </launch>