From a8b34849df59d5e66dd4f071db15cac7b0e5bdea Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Wed, 18 Oct 2017 22:12:02 +0200
Subject: [PATCH] simulation: switch robot_pose_ekf to robot_localization

---
 launch/gazebo.launch       | 11 +++--------
 launch/gmapping.launch     |  2 +-
 launch/wild_thumper.launch |  2 +-
 3 files changed, 5 insertions(+), 10 deletions(-)

diff --git a/launch/gazebo.launch b/launch/gazebo.launch
index 7580d4e..5be2fd6 100644
--- a/launch/gazebo.launch
+++ b/launch/gazebo.launch
@@ -30,14 +30,9 @@
 		<remap from="/image" to="/camera/depth/image_raw"/>
         </node>
 
-	<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
-		<remap from="imu_data" to="imu"/>
-		<remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
-		<param name="output_frame" value="odom"/>
-		<param name="freq" value="20.0"/>
-		<param name="vo_used" value="false"/>
-		<param name="debug" value="true"/>
-		<param name="sensor_timeout" value="2.0"/>
+	<node pkg="robot_localization" type="ekf_localization_node" name="ekf" clear_params="true" output="screen" if="$(arg use_imu)">
+		<rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
+		<remap from="odometry/filtered" to="odom_combined"/>
 	</node>
 
 	<include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
diff --git a/launch/gmapping.launch b/launch/gmapping.launch
index 8a053f5..a8a75d4 100644
--- a/launch/gmapping.launch
+++ b/launch/gmapping.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
 	<arg name="use_sim_time" default="false" />
-	<param name="/use_sim_time" value="$(arg use_sim_time)"/>
+	<param name="/use_sim_time" value="$(arg use_sim_time)" if="$(arg use_sim_time)"/>
 
 	<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
 		<param name="scan" value="scan" />
diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 7c9eece..80dbf6f 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -31,7 +31,7 @@
 		<arg name="nodelet_manager_name" value="nodelet_manager" />
 	</include>
 
-	<node pkg="robot_localization" type="ekf_localization_node" name="ekf" clear_params="true" output="screen">
+	<node pkg="robot_localization" type="ekf_localization_node" name="ekf" clear_params="true" output="screen" if="$(arg use_imu)">
 		<rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
 		<remap from="odometry/filtered" to="odom_combined"/>
 	</node>
-- 
2.39.2