X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=c721dcc1d028fba792abba1970e417e5727eee35;hp=1e1bf66e2f9bd046783695201f89c87eda7c61b8;hb=2f194b3fe82009a77b79021f0c57e6ca55c1706f;hpb=15e32d80e6d095cc1d5550dc340be241cf6badcc

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 1e1bf66..c721dcc 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -7,22 +7,22 @@
 	<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 $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
 	-->
-	<param name="robot_description" command="$(find xacro)/xacro.py $(find wt_open_manipulator)/urdf/wild_thumper_with_manipulator.urdf.xacro use_nominal_extrinsics:=false"/>
+	<param name="robot_description" command="$(find xacro)/xacro $(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">
-		<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 $(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"/>
 	</node>
 
-	<node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="true">
+	<node pkg="wild_thumper" type="wt_node" 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>
@@ -35,6 +35,7 @@
 		     Magnometer heading accuracy is +-2.5 deg => 0.088 rad
 		     With heading accuracy as std dev, variance = 0.088^2 = 0.008 -->
 		<param name="variance_orientation" value="0.008"/>
+		<param name="disable_leds" value="true"/>
 		<remap from="/tinkerforge_imu_brick2/imu" to="imu"/>
 	</node>