[Clearpath Husky A200] Custom Sensor Fusion

Software
1

Dear Support,

I am trying to run the ekf_node in a custom launch file and use a custom localization.yaml file for sensor fusion. To do this, I have already disabled the ekf_node by setting the enable_ekf parameter to false in the following launch files:

  • /opt/ros/humble/share/clearpath_common/launch/platform.launch.py
  • /opt/ros/humble/share/clearpath_control/launch/localization.launch.py

Despite this modification, the ekf_node is launched after every robot system boot. It seems there is a Clearpath service that ignores the changes in the launch files mentioned above and starts the node automatically.

Thank you.

2

Instead of disabling, just comment out their ekf node in their launch description.

  • Disable the clearpath_control localization as it is missing imu. It is disabled in or package but must be disabled in theirs as well:
    • sudo nano /opt/ros/humble/share/clearpath_platform/launch/platform.launch.py
    • Disable these
    #IncludeLaunchDescription(
        #    PythonLaunchDescriptionSource(launch_file_localization),
        #    launch_arguments=[
        #        ('setup_path', setup_path),
        #        ('use_sim_time', use_sim_time)]
        #),
3

Thanky you, the modificaton worked. In my case the launch file is in
/opt/ros/humble/share/clearpath_common/launch/platform.launch.py

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