X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=c0f71b8117b1df668cac5c2e136782c6f8671720;hp=834a5881c80f59bce59aff9befcfd9c5027a0c7e;hb=10405f7578977ead223bda080bb10e73839d1219;hpb=62c7618ac55f1d1214f5fd65609f502ccf0e4602

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 834a588..c0f71b8 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -6,12 +6,17 @@
 
 	<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
 
+	<!--
 	<param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
+	-->
+	<param name="robot_description" command="$(find xacro)/xacro.py $(find wt_open_manipulator)/urdf/wild_thumper_with_manipulator.urdf.xacro use_nominal_extrinsics:=false"/>
 
 	<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="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen">
+		<param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro" />
+	</node>
 
 	<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
 		<rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
@@ -22,7 +27,7 @@
 		<param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
 	</node>
 
-	<node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen" if="$(arg use_imu)">
+	<node pkg="wild_thumper" type="imu_brick_v2" name="tinkerforge_imu_brick2" output="screen" respawn="true" if="$(arg use_imu)">
 		<param name="uid" value="6DdNSn"/>
 	</node>
 
@@ -46,6 +51,7 @@
 		<param name="yaw_offset" value="0.0"/>
 		<param name="zero_altitude" value="true"/>
 		<param name="broadcast_utm_transform" value="true"/>
+		<param name="transform_timeout" value="0.2"/>
 
 		<remap from="/imu/data" to="imu"/>
 		<remap from="/gps/fix" to="fix" />