add fused_odometry to odometry.launch

bit-bots · Jan 24, 2025 · bc8b567 · bc8b567
1 parent a692a82
commit bc8b567
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/bitbots_navigation/bitbots_odometry/launch/odometry.launch b/bitbots_navigation/bitbots_odometry/launch/odometry.launch
@@ -14,6 +14,12 @@
         <param name="use_sim_time" value="$(var sim)"/>
     </node>
 
+    <node name="fused_odometry" pkg="bitbots_odometry" exec="fused_odometry" launch-prefix="$(var taskset)">
+        <param name="base_link_frame" value="$(var tf_prefix)base_link"/>
+        <param name="odom_frame" value="$(var tf_prefix)odom"/>
+        <param name="use_sim_time" value="$(var sim)"/>
+    </node>
+
     <node name="odometry_fuser" pkg="bitbots_odometry" exec="odometry_fuser" launch-prefix="$(var taskset)">
         <param name="base_link_frame" value="$(var tf_prefix)base_link"/>
         <param name="r_sole_frame" value="$(var tf_prefix)r_sole"/>