X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=c721dcc1d028fba792abba1970e417e5727eee35;hp=ec21d0b80b5ff615e116e5294f2851c7ee8ca1d2;hb=3d10c26a464468169ace654c14a29d26cbda13e8;hpb=fd6ae55188019c3e21cc9341b34aea471038494d

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index ec21d0b..c721dcc 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -7,28 +7,36 @@
 	<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>
 
-	<node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen" respawn="true" if="$(arg use_imu)">
+	<node pkg="tinkerforge_imu_ros" type="tinkerforge_imu_ros" name="tinkerforge_imu_brick2" output="screen" respawn="true" if="$(arg use_imu)">
 		<param name="uid" value="6DdNSn"/>
+		<param name="frame_id" value="base_imu_link"/>
+		<param name="period_ms" value="20"/>
+		<!-- Observed orientation variance: 0.0 (10k samples)
+		     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>
 
 	<include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
@@ -51,6 +59,7 @@
 		<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" />