robot_pose_ekf: use vo for gps input as it will work without active gps

signal

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 05295776e3535c134cf41dd36d67e0048b8b9214..bf7217d71a2bb8946dd0e25f00c30938e3c27f42 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -36,11 +36,11 @@
 
        <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"/>
 
        <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"/>
                <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>
                <param name="debug" value="false"/>
                <param name="sensor_timeout" value="2.0"/>
        </node>