From 42959dc2598746b3381e2fd94a5881987e15cb0c Mon Sep 17 00:00:00 2001
From: Vincent Belpois <vincent.belpois@gmail.com>
Date: Mon, 29 Apr 2024 02:07:35 +0200
Subject: [PATCH] Added imu and filter to launch file

---
 src/ezbot_robot/launch/real_robot.launch.py | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/src/ezbot_robot/launch/real_robot.launch.py b/src/ezbot_robot/launch/real_robot.launch.py
index c2528cc..d18b5bf 100644
--- 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
         
     ])
\ No newline at end of file