agv_ros_ws/yesense_imu/launch/yesense_ahrs.launch

<launch>
  <!-- IMU_TF is visualization ? -->
  <arg name="is_visual" default="false"/>
  <node pkg="yesense_imu" type="yesense_imu_node" name="yesense_imu_node" required="true" output = "screen" >
    <!-- 串口设备，可通过rules.d配置固定-->
    <param name="yesense_port"      type="string" value="/dev/wheeltec_IMU"/>
      <!-- 波特率 -->
    <param name="yesense_baudrate"  type="int"    value="460800"/>
    <!-- 发布的imu话题中的frame_id -->
    <param name="frame_id"  type="string"    value="gyro_link"/>
    <!-- 发布的imu话题名 -->
    <param name="imu_topic"  value="imu"/>
  </node>
   <include file="$(find yesense_imu)/launch/tf.launch" if="$(arg is_visual)"/>
  <!--<node pkg="rviz" type="rviz" name="rviz" args="-d $(find yesense_imu)/rviz/yesense.rviz" required="true"/>-->
  

</launch>