X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=wild_thumper.launch;h=af52d92398c89b01acabb4d240e8c3d2b0a82bfd;hp=2a3bb4aac3757e88ac73945feb48d8824bc1053c;hb=ec7e66f2738f95171aefdb475eb3f269955abb77;hpb=dcdf9baa260c03d34c55339af9950155319c41f0

diff --git a/wild_thumper.launch b/wild_thumper.launch
index 2a3bb4a..af52d92 100644
--- a/wild_thumper.launch
+++ b/wild_thumper.launch
@@ -3,4 +3,12 @@
 	<param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro" />
 
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+	<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >
+		<rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml" />
+	</node>
+
+	<node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen">
+		<rosparam file="$(find wild_thumper)/cfg/razor.yaml" command="load"/>
+	</node>
 </launch>