work on yamls

launch/imu2d_demo.launch

@@ -13,7 +13,7 @@
     <!-- using "clock" option to use the simulated time. Rosbag launch as the first node  -->
 
     <node pkg="rostopic" type="rostopic" name="" args='pub /helena/sensors/bno055_imu/imu/topic_enable std_msgs/Bool "data: True"'/>
-    <node pkg="rosbag" type="record" name="recorder" args='record -O $(find wolf_demo_imu2d)/bag/trajectory_recording.bag -e "(.*)wolf_ros_node(.*)"'/>
+    <node pkg="rosbag" type="record" name="recorder" args='record -O $(find wolf_demo_imu2d)/bag/trajectory_recording.bag "/wolf_ros_node/trajectory" "/wolf_ros_node/graph_trajectory" "/wolf_ros_node/pose_pos_array"'/>
 
     <node pkg="tf"
           type="static_transform_publisher"

yaml/imu2d_test0.yaml

@@ -86,10 +86,9 @@ config:
       viz_overlapped_factors: true
     -
       package: "wolf_ros_node"
-      type: "PublisherPose"
-      topic: "pose"
+      type: "PublisherTrajectory"
+      topic: "trajectory"
       period: 1
-      extrinsics: false
       frame_id: "map"
     -
       package: "wolf_ros_laser"

yaml/imu2d_test5.yaml

@@ -118,6 +118,19 @@ config:
       topic: "graph"
       period: 1
       viz_overlapped_factors: true
+    -
+      package: "wolf_ros_node"
+      type: "PublisherTrajectory"
+      topic: "trajectory"
+      period: 1
+      frame_id: "map"
+    -
+      package: "wolf_ros_node"
+      type: "PublisherPose"
+      topic: "pose"
+      extrinsics: false
+      period: 1
+      frame_id: "map"
     -
       package: "wolf_ros_laser"
       type: "PublisherLaserMap"