robot_pose_ekf: use vo for gps input as it will work without active gps
authorErik Andresen <erik@vontaene.de>
Sat, 17 Oct 2015 06:38:08 +0000 (08:38 +0200)
committerErik Andresen <erik@vontaene.de>
Sat, 17 Oct 2015 06:38:08 +0000 (08:38 +0200)
signal

launch/wild_thumper.launch

index 0529577..bf7217d 100644 (file)
 
        <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
                <remap from="imu_data" to="imu"/>
+               <remap from="vo" to="gps"/>
                <remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
                <param name="output_frame" value="odom"/>
                <param name="freq" value="20.0"/>
-               <param name="vo_used" value="false"/>
-               <param name="gps_used" value="true"/>
+               <param name="vo_used" value="true"/>
                <param name="debug" value="false"/>
                <param name="sensor_timeout" value="2.0"/>
        </node>