X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=cc2db13288403c4ff10ddad91d71f42e89644983;hp=42682bff45fc47ccc4804c6f989f031d1a4d0e4a;hb=4958e800772cdb9f790ce42feb89ea87d4b268e7;hpb=2100cc84143e07ddd4b67bada32421c4d1cf6379

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 42682bf..cc2db13 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -13,4 +13,12 @@
 	</node>
 
 	<node pkg="wild_thumper" type="move_base.py" name="move_base" output="screen" respawn="true" />
+
+	<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen">
+		<remap from="imu_data" to="imu"/>
+		<param name="output_frame" value="odom"/>
+		<param name="freq" value="20.0"/>
+		<param name="vo_used" value="false"/>
+		<param name="debug" value="true"/>
+	</node>
 </launch>