From cacb82ac8403db8d5eae119c12faf751ebbe0e71 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 11 Jul 2015 19:47:08 +0200
Subject: [PATCH] renamed move_base.py to wt_node.py

---
 launch/3dsensor.launch               |  2 +-
 launch/wild_thumper.launch           | 12 ++++++++----
 scripts/{move_base.py => wt_node.py} |  4 ++--
 3 files changed, 11 insertions(+), 7 deletions(-)
 rename scripts/{move_base.py => wt_node.py} (99%)

diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
index 8276bb6..61f622a 100644
--- a/launch/3dsensor.launch
+++ b/launch/3dsensor.launch
@@ -7,7 +7,7 @@
 	</include>
 
 	<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet /camera/camera_nodelet_manager" output="screen">
-		<remap from="/camera/image" to="/camera/depth/image_raw"/>
+		<remap from="/camera/image" to="/camera/depth/image"/>
 		<remap from="/camera/scan" to="/scan"/>
 	</node>
 </launch>
diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index fbd17ec..b0aa2ea 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -1,5 +1,7 @@
 <?xml version="1.0"?>
 <launch>
+	<arg name="use_imu" default="true" />
+
 	<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" />
@@ -8,16 +10,18 @@
 		<rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml" />
 	</node>
 
-	<node pkg="wild_thumper" type="move_base.py" name="move_base" output="screen" respawn="true">
-		<param name="enable_odom_tf" value="false" />
+	<node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="true">
+		<param name="enable_odom_tf" value="true" unless="$(arg use_imu)" />
+		<param name="enable_odom_tf" value="false" if="$(arg use_imu)" />
 	</node>
 
-	<node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen">
+	<node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen" if="$(arg use_imu)">
 		<rosparam file="$(find wild_thumper)/cfg/razor.yaml" command="load"/>
 	</node>
 
-	<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen">
+	<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"/>
diff --git a/scripts/move_base.py b/scripts/wt_node.py
similarity index 99%
rename from scripts/move_base.py
rename to scripts/wt_node.py
index 0d68ce9..72c0412 100755
--- a/scripts/move_base.py
+++ b/scripts/wt_node.py
@@ -15,7 +15,7 @@ WHEEL_DIST = 0.248
 
 class MoveBase:
 	def __init__(self):
-		rospy.init_node('wild_thumper_move_base')
+		rospy.init_node('wild_thumper')
 		rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
 		rospy.Subscriber("imu", Imu, self.imuReceived)
 		enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
@@ -133,7 +133,7 @@ class MoveBase:
 		# next, we'll publish the odometry message over ROS
 		odom = Odometry()
 		odom.header.stamp = current_time
-		odom.header.frame_id = "/odom"
+		odom.header.frame_id = "odom"
 
 		# set the position
 		odom.pose.pose.position.x = posx
-- 
2.39.2