Add use_ekf launch argument

panther_bringup/README.md

@@ -27,4 +27,4 @@ The package containing default configuration and launch files necessary to start
 - `user_animations_file` [*string*, default=**None**]: optional parameter with path to yaml file with user defined animations. 
 - `wheel_config_file` [*string*, default=**$(find panther_description)/config/WH01.yaml**]: path to YAML file with wheel specyfication. value of this argument depends on `wheel_type` launch argument.
 - `wheel_type` [*string*, default=**WH01**]: type of wheel, possible are: **WH01** - offroad, **WH02** - mecanum, **WH04** - small pneumatic, **custom** - custom wheel type (requires setting `wheel_config_file` argument accordingly).
-
+- `use_ekf` [*bool*, default=**true**]: enable or disable Extended Kalman Filter. Keep in mind parameters in [panther_common.yaml](./config/panther_common.yaml) and in [ekf_config.yaml](./config/ekf_config.yaml) are separate and are not affected by this parameter. Especially parameters such as `publish_tf` and TF frames are separate for both nodes and have to be changed independently.

panther_bringup/launch/bringup.launch

@@ -9,6 +9,7 @@
   <arg name="launch_lights_scheduler" default="true" />
   <arg name="shutdown_hosts_config_file" default="$(find panther_bringup)/config/shutdown_hosts.yaml" />
   <arg name="disable_manager" default="false" doc="used for testing purposes" />
+  <arg name="use_ekf" default="true" doc="enable or disable EKF" />
 
   <arg name="wheel_config_file" if="$(eval wheel_type == 'custom')" />
   <arg name="wheel_config_file" value="$(find panther_description)/config/WH01.yaml"
@@ -62,7 +63,7 @@
 
     <include file="$(find panther_bringup)/launch/imu.launch" />
 
-    <include file="$(find panther_bringup)/launch/ekf.launch" />
+    <include file="$(find panther_bringup)/launch/ekf.launch" if="$(arg use_ekf)" />
 
   </group>