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Disable EKF that's not necessary (unless robot moves) #402

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Oct 28, 2015
Merged

Disable EKF that's not necessary (unless robot moves) #402

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2 changes: 2 additions & 0 deletions hironx_ros_bridge/launch/hironx_ros_bridge.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -14,12 +14,14 @@
<arg name="USE_ROBOTHARDWARE" default="false" />
<arg name="USE_IMPEDANCECONTROLLER" default="false"/>
<arg name="USE_SERVOCONTROLLER" default="false" />
<arg name="USE_ROBOT_POSE_EKF" default="false" />

<include file="$(find hrpsys_ros_bridge)/launch/hrpsys_ros_bridge.launch">
<arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
<arg name="nameserver" value="$(arg nameserver)" />
<arg name="MODEL_FILE" value="$(arg MODEL_FILE)" />
<arg name="COLLADA_FILE" value="$(arg COLLADA_FILE)" />
<arg name="USE_ROBOT_POSE_EKF" value="$(arg USE_ROBOT_POSE_EKF)" />

<arg name="USE_WALKING" value="false" />
<arg name="BASE_LINK" value="WAIST"/>
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