39 lines
1.3 KiB
XML
39 lines
1.3 KiB
XML
<!--
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This launch file provides an example of how to use ekf as nodelet or as node in one launch file.
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By providing arguments like "use_nodelets this launch file will start a nodelet instead of a node.
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This is very usefull in experimental setup to allow easy switch between nodelets and node.
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Also it allows you to specify the manager the nodelet should run in.
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-->
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<launch>
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<arg name="use_nodelets" default="${optenv USE_NODELETS false)" />
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<arg name="nodelet_manager" default="$optenv robot_localization_NODELET_MANAGER robot_localization_nodelet_manager)" />
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<!-- Placeholder for output topic remapping
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<remap from="odometry/filtered" to=""/>
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<remap from="accel/filtered" to=""/>
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-->
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<node unless="$(arg use_nodelets)"
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pkg="robot_localization"
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name="ekf_se"
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type="ekf_localization_node"
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clear_params="true"
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output="screen"
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>
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<rosparam command="load" file="$(find robot_localization)/params/ekf_template.yaml" />
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</node>
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<node if="$(arg use_nodelets)"
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pkg="nodelet"
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type="nodelet"
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name="ekf_se"
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output="screen"
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args="load RobotLocalization/EkfNodelet $(arg nodelet_manager)"
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>
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<rosparam command="load" file="$(find robot_localization)/params/ekf_template.yaml" />
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</node>
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</launch>
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