From 67aa8eff7468c9d1b15207c82de325b930a84794 Mon Sep 17 00:00:00 2001
From: Rong Wang <rong.wang.1@vanderbilt.edu>
Date: Tue, 5 Feb 2019 21:13:42 -0600
Subject: [PATCH] created launch xml file

---
 slam/test_ekf.launch.xml | 14 ++++++++++++++
 1 file changed, 14 insertions(+)
 create mode 100644 slam/test_ekf.launch.xml

diff --git a/slam/test_ekf.launch.xml b/slam/test_ekf.launch.xml
new file mode 100644
index 0000000..0a40fc8
--- /dev/null
+++ b/slam/test_ekf.launch.xml
@@ -0,0 +1,14 @@
+<launch>
+
+    <param name = "true_x" value = -1/>
+    <param name = "true_y" value = -1/>
+    <param name = "true_z" value = -1/>
+    <param name = "true_orientation_x" value = -1/>
+    <param name = "true_orientation_y" value = -1/>
+    <param name = "true_orientation_z" value = -1/>
+
+    <node name = "aruco" pkg = "vision" type = "aruco_localization.py"/>
+    <node name = "aruco_ekf" pkg = "slam" type = "ArucoEKF.py"/>
+    <node name = "test_ekf" pkg = "slam" type = "testEKF.py"/>
+
+</launch>