X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=c0f71b8117b1df668cac5c2e136782c6f8671720;hp=ec21d0b80b5ff615e116e5294f2851c7ee8ca1d2;hb=10405f7578977ead223bda080bb10e73839d1219;hpb=fd6ae55188019c3e21cc9341b34aea471038494d

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index ec21d0b..c0f71b8 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -27,7 +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" respawn="true" 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>
 
@@ -51,6 +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" />