Added imu and filter to launch file

Ensmasteel · Apr 29, 2024 · 42959dc · 42959dc
1 parent 3fe2ab4
commit 42959dc
Showing 1 changed file with 10 additions and 2 deletions.
diff --git a/src/ezbot_robot/launch/real_robot.launch.py b/src/ezbot_robot/launch/real_robot.launch.py
@@ -86,6 +86,13 @@ def generate_launch_description():
         actions=[joint_broad_spawner],
     )   
 
+    imu_node =   Node(
+            package='ros_qwiic_icm_20948',
+            executable='ros_qwiic_icm_20948',
+            name='ros_qwiic_icm_20948',
+            output='screen'
+    )
+
 
     # don't know what the parameters do
     imu_complementary_filter = Node(
@@ -116,8 +123,9 @@ def generate_launch_description():
         rsp,
         delayed_controller_manager,
         delayed_omnidrive_spawner,
-        delayed_joint_broad_spawner
+        delayed_joint_broad_spawner,
+        imu_node,
+        imu_complementary_filter,
         #joystick,
-        #homemade_controller
 
     ])