Updated fake_localization node with new parameters

pirobot · Feb 13, 2015 · 809b7a0 · 809b7a0
1 parent 09a844d
commit 809b7a0
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/rbx2_tasks/launch/fake_turtlebot.launch b/rbx2_tasks/launch/fake_turtlebot.launch
@@ -45,9 +45,13 @@
   </include>
 
   <!-- Run fake localization compatible with AMCL output -->
-  <node pkg="fake_localization" type="fake_localization" name="fake_localization" output="screen" />
+  <node pkg="fake_localization" type="fake_localization" name="fake_localization" clear_params="true" output="screen">
+     <remap from="base_pose_ground_truth" to="odom" />
+     <param name="global_frame_id" value="map" />
+     <param name="base_frame_id" value="base_footprint" />
+  </node>
 
   <!-- Run a static transform between /odom and /map -->
-  <node pkg="tf" type="static_transform_publisher" name="odom_map_broadcaster" args="0 0 0 0 0 0 /map /odom 100" />
+  <!--node pkg="tf" type="static_transform_publisher" name="odom_map_broadcaster" args="0 0 0 0 0 0 /map /odom 100" /-->
 
 </launch>